DocumentCode
397520
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
Volume
4
fYear
2003
fDate
4-6 June 2003
Firstpage
2887
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2003. Proceedings of the 2003
ISSN
0743-1619
Print_ISBN
0-7803-7896-2
Type
conf
DOI
10.1109/ACC.2003.1243761
Filename
1243761
Link To Document