Kalman Filtering And Information Fusion
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Sensor And Data Fusion
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Author : Lawrence A. Klein
language : en
Publisher: SPIE Press
Release Date : 2004
Sensor And Data Fusion written by Lawrence A. Klein and has been published by SPIE Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with Technology & Engineering categories.
This book illustrates the benefits of sensor fusion by considering the characteristics of infrared, microwave, and millimeter-wave sensors, including the influence of the atmosphere on their performance. Applications that benefit from this technology include: vehicular traffic management, remote sensing, target classification and tracking- weather forecasting- military and homeland defense. Covering data fusion algorithms in detail, Klein includes a summary of the information required to implement each of the algorithms discussed, and outlines system application scenarios that may limit sensor size but that require high resolution data.
Introduction And Implementations Of The Kalman Filter
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Author : Felix Govaers
language : en
Publisher: BoD – Books on Demand
Release Date : 2019-05-22
Introduction And Implementations Of The Kalman Filter written by Felix Govaers and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-05-22 with Computers categories.
Sensor data fusion is the process of combining error-prone, heterogeneous, incomplete, and ambiguous data to gather a higher level of situational awareness. In principle, all living creatures are fusing information from their complementary senses to coordinate their actions and to detect and localize danger. In sensor data fusion, this process is transferred to electronic systems, which rely on some "awareness" of what is happening in certain areas of interest. By means of probability theory and statistics, it is possible to model the relationship between the state space and the sensor data. The number of ingredients of the resulting Kalman filter is limited, but its applications are not.
Kalman Filtering And Information Fusion
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Author : Hongbin Ma
language : en
Publisher: Springer Nature
Release Date : 2019-11-27
Kalman Filtering And Information Fusion written by Hongbin Ma and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-11-27 with Technology & Engineering categories.
This book addresses a key technology for digital information processing: Kalman filtering, which is generally considered to be one of the greatest discoveries of the 20th century. It introduces readers to issues concerning various uncertainties in a single plant, and to corresponding solutions based on adaptive estimation. Further, it discusses in detail the issues that arise when Kalman filtering technology is applied in multi-sensor systems and/or multi-agent systems, especially when various sensors are used in systems like intelligent robots, autonomous cars, smart homes, smart buildings, etc., requiring multi-sensor information fusion techniques. Furthermore, when multiple agents (subsystems) interact with one another, it produces coupling uncertainties, a challenging issue that is addressed here with the aid of novel decentralized adaptive filtering techniques.Overall, the book’s goal is to provide readers with a comprehensive investigation into the challenging problem of making Kalman filtering work well in the presence of various uncertainties and/or for multiple sensors/components. State-of-art techniques are introduced, together with a wealth of novel findings. As such, it can be a good reference book for researchers whose work involves filtering and applications; yet it can also serve as a postgraduate textbook for students in mathematics, engineering, automation, and related fields.To read this book, only a basic grasp of linear algebra and probability theory is needed, though experience with least squares, navigation, robotics, etc. would definitely be a plus.
Autonomous Mobile Robots
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Author : Frank L. Lewis
language : en
Publisher: CRC Press
Release Date : 2018-10-03
Autonomous Mobile Robots written by Frank L. Lewis and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-10-03 with Technology & Engineering categories.
It has long been the goal of engineers to develop tools that enhance our ability to do work, increase our quality of life, or perform tasks that are either beyond our ability, too hazardous, or too tedious to be left to human efforts. Autonomous mobile robots are the culmination of decades of research and development, and their potential is seemingly unlimited. Roadmap to the Future Serving as the first comprehensive reference on this interdisciplinary technology, Autonomous Mobile Robots: Sensing, Control, Decision Making, and Applications authoritatively addresses the theoretical, technical, and practical aspects of the field. The book examines in detail the key components that form an autonomous mobile robot, from sensors and sensor fusion to modeling and control, map building and path planning, and decision making and autonomy, and to the final integration of these components for diversified applications. Trusted Guidance A duo of accomplished experts leads a team of renowned international researchers and professionals who provide detailed technical reviews and the latest solutions to a variety of important problems. They share hard-won insight into the practical implementation and integration issues involved in developing autonomous and open robotic systems, along with in-depth examples, current and future applications, and extensive illustrations. For anyone involved in researching, designing, or deploying autonomous robotic systems, Autonomous Mobile Robots is the perfect resource.
Sensor And Data Fusion For Intelligent Transportation Systems
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Author : Lawrence A. Klein
language : en
Publisher: SPIE-International Society for Optical Engineering
Release Date : 2019
Sensor And Data Fusion For Intelligent Transportation Systems written by Lawrence A. Klein and has been published by SPIE-International Society for Optical Engineering this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with Algorithms categories.
"Sensor and Data Fusion for Intelligent Transportation Systems introduces readers to the roles of the data fusion processes defined by the Joint Directors of Laboratories (JDL) data fusion model, data fusion algorithms, and noteworthy applications of data fusion to ITS. Additionally, the monograph offers detailed descriptions of three of the widely applied data fusion techniques and their relevance to ITS (namely, Bayesian inference, Dempster-Shafer evidential reasoning, and Kalman filtering), and indicates directions for future research in the area of data fusion. The focus is on data fusion algorithms rather than on sensor and data fusion architectures, although the book does summarize factors that influence the selection of a fusion architecture and several architecture frameworks"--
Kalman Filtering
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Author : Mohinder S. Grewal
language : en
Publisher: John Wiley & Sons
Release Date : 2015-02-02
Kalman Filtering written by Mohinder S. Grewal and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-02-02 with Technology & Engineering categories.
The definitive textbook and professional reference on Kalman Filtering – fully updated, revised, and expanded This book contains the latest developments in the implementation and application of Kalman filtering. Authors Grewal and Andrews draw upon their decades of experience to offer an in-depth examination of the subtleties, common pitfalls, and limitations of estimation theory as it applies to real-world situations. They present many illustrative examples including adaptations for nonlinear filtering, global navigation satellite systems, the error modeling of gyros and accelerometers, inertial navigation systems, and freeway traffic control. Kalman Filtering: Theory and Practice Using MATLAB, Fourth Edition is an ideal textbook in advanced undergraduate and beginning graduate courses in stochastic processes and Kalman filtering. It is also appropriate for self-instruction or review by practicing engineers and scientists who want to learn more about this important topic.
Context Enhanced Information Fusion
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Author : Lauro Snidaro
language : en
Publisher: Springer
Release Date : 2016-05-25
Context Enhanced Information Fusion written by Lauro Snidaro and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-05-25 with Computers categories.
This text reviews the fundamental theory and latest methods for including contextual information in fusion process design and implementation. Chapters are contributed by the foremost international experts, spanning numerous developments and applications. The book highlights high- and low-level information fusion problems, performance evaluation under highly demanding conditions, and design principles. A particular focus is placed on approaches that integrate research from different communities, emphasizing the benefit of combining different techniques to overcome the limitations of a single perspective. Features: introduces the terminology and core elements in information fusion and context; presents key themes for context-enhanced information fusion; discusses design issues in developing context-aware fusion systems; provides mathematical grounds for modeling the contextual influences in representative fusion problems; describes the fusion of hard and soft data; reviews a diverse range of applications.
Optimal Estimation
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Author : Frank L. Lewis
language : en
Publisher: Wiley-Interscience
Release Date : 1986-04-15
Optimal Estimation written by Frank L. Lewis and has been published by Wiley-Interscience this book supported file pdf, txt, epub, kindle and other format this book has been release on 1986-04-15 with Mathematics categories.
Describes the use of optimal control and estimation in the design of robots, controlled mechanisms, and navigation and guidance systems. Covers control theory specifically for students with minimal background in probability theory. Presents optimal estimation theory as a tutorial with a direct, well-organized approach and a parallel treatment of discrete and continuous time systems. Gives practical examples and computer simulations. Provides enough mathematical rigor to put results on a firm foundation without an overwhelming amount of proofs and theorems.
Beyond The Kalman Filter Particle Filters For Tracking Applications
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Author : Branko Ristic
language : en
Publisher: Artech House
Release Date : 2003-12-01
Beyond The Kalman Filter Particle Filters For Tracking Applications written by Branko Ristic and has been published by Artech House this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003-12-01 with Technology & Engineering categories.
For most tracking applications the Kalman filter is reliable and efficient, but it is limited to a relatively restricted class of linear Gaussian problems. To solve problems beyond this restricted class, particle filters are proving to be dependable methods for stochastic dynamic estimation. Packed with 867 equations, this cutting-edge book introduces the latest advances in particle filter theory, discusses their relevance to defense surveillance systems, and examines defense-related applications of particle filters to nonlinear and non-Gaussian problems. With this hands-on guide, you can develop more accurate and reliable nonlinear filter designs and more precisely predict the performance of these designs. You can also apply particle filters to tracking a ballistic object, detection and tracking of stealthy targets, tracking through the blind Doppler zone, bi-static radar tracking, passive ranging (bearings-only tracking) of maneuvering targets, range-only tracking, terrain-aided tracking of ground vehicles, and group and extended object tracking.
Global Positioning Systems Inertial Navigation And Integration
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Author : Mohinder S. Grewal
language : en
Publisher: John Wiley & Sons
Release Date : 2007-03-05
Global Positioning Systems Inertial Navigation And Integration written by Mohinder S. Grewal and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-03-05 with Science categories.
An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS. Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. This Second Edition has been updated to include: GNSS signal integrity with SBAS Mitigation of multipath, including results Ionospheric delay estimation with Kalman filters New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data New algorithms for GEO with L1 /L5 frequencies and clock steering Implementation of mechanization equations in numerically stable algorithms To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.