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Authors: Aritro Dey ; Smita Sadhu and Tapan Kumar Ghoshal

Affiliation: Jadavpur University, India

Keyword(s): Sensor Fusion, Information Filter, Process Noise Covariance, Adaptive Filter, State Estimation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper addresses the problem of multiple sensor fusion in situations where the system dynamics suffers from unknown parameter variation. An adaptive nonlinear information filter has been proposed for such multi sensor estimation problems where the process noise covariance becomes unknown as a consequence of unknown parameter variation. The proposed filter, based on the Divided Difference interpolation formula, ensures satisfactory estimation performance by online adaptation of the unknown process noise covariance and makes sensor fusion successful. Efficacy of the proposed filter is demonstrated with the help of a tracking problem in a sensor fusion configuration. Results from Monte Carlo simulation indicate that though the process noise covariance is unknown, the performance of the proposed filter is demonstrably superior to its non adaptive version in the context of joint estimation of parameter and states.

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Paper citation in several formats:
Dey, A.; Sadhu, S. and Ghoshal, T. (2015). Multiple Sensor Fusion using Adaptive Divided Difference Information Filter. In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-122-9; ISSN 2184-2809, SciTePress, pages 398-406. DOI: 10.5220/0005537303980406

@conference{icinco15,
author={Aritro Dey. and Smita Sadhu. and Tapan Kumar Ghoshal.},
title={Multiple Sensor Fusion using Adaptive Divided Difference Information Filter},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2015},
pages={398-406},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005537303980406},
isbn={978-989-758-122-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Multiple Sensor Fusion using Adaptive Divided Difference Information Filter
SN - 978-989-758-122-9
IS - 2184-2809
AU - Dey, A.
AU - Sadhu, S.
AU - Ghoshal, T.
PY - 2015
SP - 398
EP - 406
DO - 10.5220/0005537303980406
PB - SciTePress