NDLI: Novel adaptive Kalman filtering and fuzzy track fusion approach for real time applications

Content Provider	IEEE Xplore Digital Library
Author	Tafti, A.D. Sadati, N.
Copyright Year	2008
Description	Author affiliation: Islamic Azad Univ., Karaj (Tafti, A.D.)
Abstract	The track fusion combines individual tracks formed by different sensors. Tracks are usually obtained by Kalman filter (KF), since it is suitable for real-time application. The KF is an optimal linear estimator when the measurement noise has a Gaussian distribution with known covariance. However, in practice, some of the sensors do not have these properties, and the traditional KF is not an optimal estimator. In this paper, a novel adaptive Kalman filter (NAKF) is proposed. In this approach, the measurement noise covariance is adjusted by using an introduced simple mathematical function of one variable, called the degree of matching (DoM), where it is defined on the basis of covariance matching technique. In the fusion structure, each measurement coming from each sensor is fed to a NAKF. So n sensors and n NAKFs will work together in parallel. To obtain the fused track, a fuzzy track fusion method is also proposed. In this method, a fuzzy weight is assigned to each track based on the values of DoM, and another variable is generated by using the track quality function. The fuzzy weight of each track shows the degree of confidence of each track among others. Finally, defuzzification using the center of gravity can obtain the fused track. The NAKF and the proposed fusion methods have very simple structures with low computational cost and accurate performance. Hence, they are suitable to be used in real-time applications. Simulation results show not only the effectiveness and accuracy of using the NAKF in track estimation, but also the good performance of the proposed track fusion method in compare with the other common fusion methods such as simple convex combination and Bar-Shalom/Campo state vector combination methods.
Starting Page	120
Ending Page	125
File Size	408626
Page Count	6
File Format	PDF
ISBN	9781424417179
DOI	10.1109/ICIEA.2008.4582491
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-03
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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