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Authors: Samuel B. Lazarus 1 ; Antonios Tsourdos 1 ; João Sequeira 2 and Al Savvaris 1

Affiliations: 1 Cranfield University, United Kingdom ; 2 Instituto Superior Técnico, Portugal

ISBN: 978-989-8565-21-1

Keyword(s): Multiple Sensor Fusion, Data Fusion, EKF based Navigation, Interval Analysis (IA), Robust Navigation, Covariance Intersection (CI), Maximum Likelihood (ML), Orthogonal Gnanadesikan-Kettenring (OGK).

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Information-Based Models for Control ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control ; Surveillance ; Vehicle Control Applications

Abstract: This paper addresses the comparison of robust estimation of a covariance matrix in vehicle navigation task to express the uncertainty when fusing information from multiple sensors. The EKF estimates are fused with the Interval Analysis estimates and further the results are fused using the Covariance Intersection (CI), Maximum Likelihood (ML) and a class of Orthogonal Gnanadesikan-Kettenring (OGK) estimators. The simulation results presented show that the variation between CI and OGK and the correlation between sensors are significant in the presence of outliers.

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Paper citation in several formats:
B. Lazarus, S.; Tsourdos, A.; Sequeira, J. and Savvaris, A. (2012). EKF based Data Fusion using Interval Analysis via Covariance Intersection, ML and a Class of OGK Covariance Estimators.In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1, pages 610-613. DOI: 10.5220/0004040406100613

@conference{icinco12,
author={Samuel B. Lazarus. and Antonios Tsourdos. and João Sequeira. and Al Savvaris.},
title={EKF based Data Fusion using Interval Analysis via Covariance Intersection, ML and a Class of OGK Covariance Estimators},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={610-613},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004040406100613},
isbn={978-989-8565-21-1},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - EKF based Data Fusion using Interval Analysis via Covariance Intersection, ML and a Class of OGK Covariance Estimators
SN - 978-989-8565-21-1
AU - B. Lazarus, S.
AU - Tsourdos, A.
AU - Sequeira, J.
AU - Savvaris, A.
PY - 2012
SP - 610
EP - 613
DO - 10.5220/0004040406100613

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