1-Point RANSAC UKF with Inverse Covariance Intersection for Fault Tolerance
- Authors
- Kim, Sun Young; Kang, Chang Ho; Song, Jin Woo
- Issue Date
- Jan-2020
- Publisher
- MDPI
- Keywords
- fault tolerance; inverse covariance intersection; 1-point RANSAC UKF; robust estimation filtering
- Citation
- SENSORS, v.20, no.2
- Journal Title
- SENSORS
- Volume
- 20
- Number
- 2
- URI
- https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/18218
- DOI
- 10.3390/s20020353
- ISSN
- 1424-8220
- Abstract
- The fault tolerance estimation method is proposed to maintain reliable correspondences between sensor data and estimation performance regardless of the number of valid measurements. The proposed method is based on the 1-point random sample consensus (RANSAC) unscented Kalman filter (UKF), and the inverse covariance intersection (ICI)-based data fusion method is added to the update process in the proposed algorithm. To verify the performance of the proposed algorithm, two analyses are performed with respect to the degree of measurement error reduction and accuracy of generated information. In addition, experiments are conducted using the dead reckoning (DR)/global positioning system (GPS) navigation system with a barometric altimeter to confirm the performance of fault tolerance in the altitude. It is confirmed that the proposed algorithm maintains estimation performance when there are not enough valid measurements.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - School of Mechanical System Engineering > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.