한국자동차공학회논문집 (Transactions of the Korean Society of Automotive Engineers)

  • 제22권3호
  • /
  • Pages.220-227
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  • 2014
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  • 1225-6382(pISSN)
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  • 2234-0149(eISSN)
한국자동차공학회 (The Korean Society of Automotive Engineers)
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자율주행 차량 제어를 위한 다중 주기 센서 기반의 상보 필터 동기 융합

Synchronous Interfusion of the Compensatory Filters Based on Multi-rate Sensors for the Control of the Autonomous Vehicle

  • 투고 : 2013.10.31
  • 심사 : 2014.02.07
  • 발행 : 2014.04.01
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초록

This paper presents about multi-rate sensors' synchronization and filter fusion via a sigmoid function of the Kalman filter. To synchronize multi-rate sensors, the estimation states of the Kalman filter is modified. A specific matrix that makes the filter choose sensor values only updated is multiplied to measurement matrix. For the filter that has weak points on some criteria, filter fusion is suggested by using sigmoid function. Modified kalman filter is tested with practical case. A sigmoid function was designed for the test and the performance of the modified function is estimated with respect to conventional Kalman filter. Unscented Kalman filter is used to the base filter of the suggested filter because of its stability.

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참고문헌

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