Title :
Multirate optimal state estimation with sensor fusion
Author :
Lee, Dong Jun ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
In this paper, multirate optimal state estimation problems are considered. Focuses are on the design of multirate Kalman filters using two sensor outputs, that is, the position sensor and the accelerometer measurements. Multirate kinematic Kalman filters are derived and implemented in two cases: N-delay input and N-delay output estimations. The effectiveness of multirate schemes is demonstrated through the experiments with a linear motor setup.
Keywords :
Kalman filters; accelerometers; delay estimation; linear motors; position control; sampled data filters; sensor fusion; state estimation; N-delay input estimation; N-delay output estimation; accelerometer measurements; linear motor setup; multirate Kalman filters; multirate optimal state estimation; position sensor; sensor fusion; Delay estimation; Friction; Kalman filters; Kinematics; Mathematical model; Mechanical sensors; Position measurement; Sampling methods; Sensor fusion; State estimation;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1243761
