Constraints propagation techniques on intervals for a guaranteed localization using redundant data |
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Authors: | A Gning [Author Vitae] Ph Bonnifait [Author Vitae] |
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Affiliation: | Heudiasyc UMR 6599, Université de Technologie de Compiègne, BP 20529, 60205 Compiègne Cedex, France |
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Abstract: | In order to estimate continuously the dynamic location of a car, dead reckoning and absolute sensors are usually merged. The models used for this fusion are non-linear and, therefore, classical tools (such as Bayesian estimation) cannot provide a guaranteed estimation. In some applications, integrity is essential and the ability to guaranty the result is a crucial point. There are bounded-error approaches that are insensitive to non-linearity. In this context, the random errors are only modeled by their maximum bounds. This paper presents a new technique to merge the data of redundant sensors with a guaranteed result based on constraints propagation techniques on real intervals. We have thus developed an approach for the fusion of the two ABS wheel encoders of the rear wheels of a car, a fiber optic gyro and a differential GPS receiver in order to estimate the absolute location of a car. Experimental results show that the precision that one can obtain is acceptable, with a guaranteed result, in comparison with an extended Kalman filter. Moreover, constraints propagation techniques are well adapted to a real-time context. |
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Keywords: | Localization Bounded-error estimation Data fusion Interval analysis |
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