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- Title
1-Point RANSAC UKF with Inverse Covariance Intersection for Fault Tolerance.
- Authors
Sun Young Kim; Chang Ho Kang; Jin Woo Song
- Abstract
The fault tolerance estimation method is proposed to maintain reliable correspondences between sensor data and estimation performance regardless of the number of valid measurements. The proposed method is based on the 1-point random sample consensus (RANSAC) unscented Kalman filter (UKF), and the inverse covariance intersection (ICI)-based data fusion method is added to the update process in the proposed algorithm. To verify the performance of the proposed algorithm, two analyses are performed with respect to the degree of measurement error reduction and accuracy of generated information. In addition, experiments are conducted using the dead reckoning (DR)/global positioning system (GPS) navigation system with a barometric altimeter to confirm the performance of fault tolerance in the altitude. It is confirmed that the proposed algorithm maintains estimation performance when there are not enough valid measurements.
- Subjects
MEASUREMENT errors; MULTISENSOR data fusion; FAULT-tolerant computing; KALMAN filtering; ACCURACY of information; STATISTICAL sampling; ALTIMETERS
- Publication
Sensors (14248220), 2020, Vol 20, Issue 2, p1
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s20020353