| 1. |
- Fakharian, Ahmad, et al.
(author)
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Adaptive Kalman filtering based navigation : an IMU/GPS integration approach
- 2011
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In: Proceedings of the 8th IEEE International Conference on Networking, Sensing and Control. - Piscataway, NJ : IEEE Communications Society. - 9781424495702 ; , s. 181-185
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Conference paper (peer-reviewed)abstract
- This paper investigates on the development and implementation of a high integrity navigation system based on the combined use of the Global Positioning System (GPS) and an inertial measurement unit (IMU) for land vehicle applications. The complementary properties of the GPS and the INS have motivated several works dealing with their fusion by using a Kalman Filter. The conventional kalman filter has a fix error covariance matrix in all times of processing. Multi-sensor based navigation system that is implemented in this paper is called data synchronization. Also, multi-rate operations that are compared with conventional Kalman filtering has fix error covariance matrix. Therefore, when GPS outage occurred we have improper treat by kalman filter. In this paper we present an Adaptive method instead of conventional methods. It is shown that proposed method has a better performance rather than conventional method. Experimental results show the effectiveness of the GPS/INS integrated system.
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| 2. |
- Park, Pan Gun, et al.
(author)
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Wireless networked control system co-design
- 2011
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In: 2011 International Conference on Networking, Sensing and Control, ICNSC 2011. - 9781424495702 ; , s. 486-491
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Conference paper (peer-reviewed)abstract
- A framework for the joint design of wireless network and controllers is proposed. Multiple control systems are considered where the sensor measurements are transmitted to the controller over the IEEE 802.15.4 protocol. The essential issues of wireless networked control systems (NCSs) are investigated to provide an abstraction of the wireless network for a co-design approach. We first present an analytical model of the packet loss probability and delay of a IEEE 802.15.4 network. Through optimal control techniques we derive the control cost as a function of the packet loss probability and delay. Simulation results show the feasible control performance. It is shown that the optimal traffic load is similar when the communication throughput or control cost are optimized. The co-design approach is based on a constrained optimization problem, for which the objective function is the energy consumption of the network and the constraints are the packet loss probability and delay, which are derived from the desired control cost. The co-design is illustrated through a numerical example.
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