Sensor Fusion

POSITION AND ATTITUDE MEASURING SYSTEMS FOR AUTONOMOUS VEHICLES

3D SENSORS

Here the slides on different technologies used to perceive the 3D shape of the environment

SENSOR FUSION IN FREQUENCY

Some material that I used to give the lesson (part is in Italian, sorry in the Doebelin version in English the complementary filtering seems not to be present):

The Simulink file to simulate the Baro-inertial altimeter:

  • Simulink File (this link was cancelled this year)

During the lesson I composed the following notes in English:

How to use Simulink to simulate whichever differential equation, either linear or non-linear:

Work in class to simulate Complementary filtering in Baro-inertial altitude estimation:

  • Download this file that contains instructions that you shall follow step to step

Gyro-inclinometer fusion to estimate angle:

  • Gyroscope + capacitive inclinometer (capacitances enclosed with a dielectric fluid): the gyro has the problem of a linear drift, the inclinometer slow response. So the two instruments are fused with 2° order complementary filters.
  • In the above link there is also the method to implement in real time the designed complementary filters via recursive equations that can be implemented in a WHILE LOOP.
  • Simulink scheme to run the simulation via a matlab script

 

SENSOR DATA AGGREGATION

Singular Value Decomposition SVD, basics

SVD Applications

Principal Component Analysis, principle

Relations between SVD and PCA, slides

SVD applications to Laser Scan registration, slides

Here an interesting paper on the above topics (I developed some slides from this source)

 

For the 2D Laser scan matching to estimate the trajectory of a robotic vehicle please refeir to this post

 

SENSOR FUSION IN THE STATISTICAL DOMAIN (NOT in 2023)

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