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    Wyświetlanie 1-7 z 7
    Tytuł:
    State estimation in a decentralized discrete time LQG control for a multisensor system
    Autorzy:
    Duda, Z.
    Powiązania:
    https://bibliotekanauki.pl/articles/964034.pdf
    Data publikacji:
    2017
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    multisensor system
    LQG problem
    Kalman filter
    Opis:
    In the paper a state filtration in a decentralized discrete time Linear Quadratic Gaussian problem formulated for a multisensor system is considered. Local optimal control laws depend on global state estimates and are calculated by each node. In a classical centralized information pattern the global state estimators use measurements data from all nodes. In a decentralized system the global state estimates are computed at each node using local state estimates based on local measurements and values of previous controls, from other nodes. In the paper, contrary to this, the controls are not transmitted between nodes. It leads to nonconventional filtration because the controls from other nodes are treated as random variables for each node. The cost for the additional reduced transmission is an increased filter computation at each node.
    Źródło:
    Archives of Control Sciences; 2017, 27, 1; 29-39
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Fusion filtration in LQG control for multisensor systems
    Autorzy:
    Duda, Z.
    Powiązania:
    https://bibliotekanauki.pl/articles/206075.pdf
    Data publikacji:
    2013
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    multisensor system
    Kalman filter
    LQG problem
    fusion filtration
    Opis:
    In the paper, state filtration in a LQG problem formulated for a multisensor system is considered. Control is determined by a central node as a linear form of a state estimate. It is assumed that control values are not available to local nodes. Because of the drawbacks of centralized filtration an optimal fusion of decentralized local Kalman filters is proposed. When control values are not available to local nodes, then control should be treated as a random variable in the synthesis of local state estimates. This leads to a non-classical estimation. It is shown that the proposed filter is equivalent to the centralized one.
    Źródło:
    Control and Cybernetics; 2013, 42, 4; 743-754
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Fusion Kalman filtration for distributed multisensor systems
    Autorzy:
    Duda, Z.
    Powiązania:
    https://bibliotekanauki.pl/articles/229236.pdf
    Data publikacji:
    2014
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    fusion Kalman filtration
    multisensor system
    one step delay information
    Opis:
    In the paper, fusion state hierarchical filtration for a multisensor system is considered. An optimal global Kalman filter is realized by a central node in the information form. The state estimate depends on local information that should be sent by local nodes. Two information structures are considered in the paper. In the first case local estimates are based on the local measurement information. It leads to distributed Kalman filter fusion that is well known in a literature. In the second case local node has additionally global information of the system with one step delay. A synthesis of local filters is presented. An advantage of this structure is discussed.
    Źródło:
    Archives of Control Sciences; 2014, 24, 1; 53-65
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Fusion Kalman filtration with k-step delay sharing pattern
    Autorzy:
    Duda, Z.
    Powiązania:
    https://bibliotekanauki.pl/articles/229569.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    fusion Kalman filtration
    multisensor system
    k− step delay sharing pattern
    Opis:
    A fusion hierarchical state filtration with k−step delay sharing pattern for a multisensor system is considered. A global state estimate depends on local state estimates determined by local nodes using local information. Local available information consists of local measurements and k−step delay global information - global estimate sent from a central node. Local estimates are transmitted to the central node to be fused. The synthesis of local and global filters is presented. It is shown that a fusion filtration with k−step delay sharing pattern is equivalent to the optimal centralized classical Kalman filtration when local measurements are transmitted to the center node and used to determine a global state estimate. It is proved that the k−step delay sharing pattern can reduce covariances of local state errors.
    Źródło:
    Archives of Control Sciences; 2015, 25, 3; 307-318
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Hierarchical filtration for distributed linear multisensor systems
    Autorzy:
    Duda, Z.
    Powiązania:
    https://bibliotekanauki.pl/articles/229333.pdf
    Data publikacji:
    2012
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    multisensor system
    distributed Kalman filtering
    decentralized filtration
    hierarchical fusion
    aggregated information
    Opis:
    In the paper two filtration algorithms for distributed multisensor system are presented. The first one is derived for a linear dynamical system composed of local subsystems described by local state equations. Local estimates are sent to a central station to be fused and formed an optimal global estimate. The second algorithm is derived for a system observed by local nodes that determine estimates of the whole system using local information and periodically aggregated information from other nodes. Periodically local estimates are sent to the central station to be fused. Owing to this a reduced communication can be achieved.
    Źródło:
    Archives of Control Sciences; 2012, 22, 4; 507-518
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A novel single-step procedure for the calibration of the mounting parameters of a multi-camera terrestrial mobile mapping system
    Autorzy:
    Habib, A.
    Kersting, A.
    Bang, K.
    Rau, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/129833.pdf
    Data publikacji:
    2011
    Wydawca:
    Stowarzyszenie Geodetów Polskich
    Tematy:
    photogrammetry
    calibration
    mobile
    system
    multisensor
    accuracy
    fotogrametria
    kalibracja
    mobilny
    dokładność
    Opis:
    Mobile Mapping Systems (MMS) can be defined as moving platforms which integrates a set of imaging sensors and a position and orientation system (POS) for the collection of geo spatial information. In order to fully explore the potential accuracy of such systems and guarantee accurate multi-sensor integration, a careful system calibration must be carried out. System calibration involves individual sensor calibration as well as the estimation of the inter-sensor geometric relationship. This paper tackles a specific component of the system calibration process of a multi-camera MMS – the estimation of the relative orientation parameters among the cameras, i.e., the inter-camera geometric relationship (lever-arm offsets and boresight angles among the cameras). For that purpose, a novel single step procedure, which is easy to implement and not computationally intensive, will be introduced. The proposed method is implemented in such a way that it can also be used for the estimation of the mounting parameters among the cameras and the IMU body frame, in case of directly georeferenced systems. The performance of the proposed method is evaluated through experimental results using simulated data. A comparative analysis between the proposed single-step and the two-step, which makes use of the traditional bundle adjustment procedure, is demonstrated.
    Źródło:
    Archiwum Fotogrametrii, Kartografii i Teledetekcji; 2011, 22; 173-185
    2083-2214
    2391-9477
    Pojawia się w:
    Archiwum Fotogrametrii, Kartografii i Teledetekcji
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A PPP baseline approach for bridge passing
    Autorzy:
    Lass, C.
    Powiązania:
    https://bibliotekanauki.pl/articles/24201435.pdf
    Data publikacji:
    2023
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    inland waterways
    precise point positioning
    Global Navigation Satellite System
    multisensor data fusion
    multi-antenna
    navigation and timing
    inertial navigation system
    rate of turn
    Opis:
    Global Navigation Satellite Systems (GNSS) are increasingly used as the main source of Positioning, Navigation and Timing (PNT) information for inland water navigation. In order to enable automated driving and facilitate driver assistant functions, it becomes of crucial importance to ensure high reliability and accuracy of the GNSS-based navigation solution, especially in challenging environments. One challenging phase of inland waterway navigation is bridge passing which leads to non-line-of-sight (NLOS) effects such as multipath and loss of tracking. This work presents a Precise Point Positioning (PPP) based algorithm in a two-antenna system where one antenna is at the bow and the other is at the stern. Additionally, gyroscope data from an IMU is used. In contrast to a separated position calculation of the two antennas, only one antenna position is estimated and the other is derived from the baseline between the antennas. This allows for accurate positioning even if one antenna does not receive any GNSS measurements. The presented scheme is evaluated using real measurement data from an inland water scenario with multiple bridges. In comparison with a standard PPP scheme as well as an RTK algorithm, the presented approach shows clear advantages in challenging scenarios.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 1; 33--40
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-7 z 7

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