Naslov
Impact of Different Noise Distributions in the Application of Kalman Filter in Sensor Fusion

Autori
Čvek, Kristijan ; Mostarac, Marija ; Miličević, Kruno

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of 2022 International Conference on Smart Systems and Technologies (SST) / Nyarko, Emmanuel Karlo ; Matić, Tomislav ; Cupec, Robert ; Vranješ, Mario - Osijek : Fakultet elektrotehnike, računarstva i informacijskih tehnologija Sveučilišta Josipa Jurja Strossmayera u Osijeku, 2022, 203-207

ISBN
978-1-6654-8215-8

Skup
International Conference on Smart Systems and Technologies 2022 (SST 2022)

Mjesto i datum
Osijek, Hrvatska, 19.10.2022. - 21.10.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Kalman filter ; sensor fusion ; Extended Kalman filter ; normal distribution ; uniform distribution ; noise

Sažetak
This paper explains the concept of the Kalman filter as an estimator of the system state based on measurements in the presence of noise. Sensor fusion allows for the measurement of factors that are not immediately measurable as well as the creation of more accurate data. The theoretical underpinning for the definition of a filter and Kalman-based sensor fusion, and filter and sensor fusion algorithms are explained and implemented in simulation. The application of the filter for sensor fusion is presented, and in the end, simulation results are obtained for different types of noise distribution - normal as the usual one for physical quantities and uniform as dominant in digitized values.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo

POVEZANOST RADA