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Multi Sensor Data Fusion
Multi Sensor Data Fusion
Dr. A K Sarkar
Scientist
Directorate of Systems
DRDL, Hyderabad-58
Workshop on
KALMAN FILTERING AND ITS APPLICATIONS,
conducted by IISc, Bengaluru, at LRDE
01-03-2011
Review paper
Text book
Multi Sensor Data Fusion (MSDF)
Measurements
• Sensors System (Radar, Sonar, EOTS, Seeker ) as external measurements
• Imaging sensors
• Pitot Static Probe
• GPS, DGPS as external measurements (inertial)
• Onboard measurements (SDINS)
MSDF Activities
Applications
Robotics
Military applications (coast guard, air traffic control, remote sensing)
Medical diagnosis (information fusion of sensors such as X-ray, magnetic resonance,
tomography images)
Aerospace applications
Improved target detection and tracking with less tracking error
Fire control system employing multiple sensors for acquisition, tracking and
command guidance
Desirable features of MSDF architecture
Modularity
Parallelism
Distributed structure (Military C3 system)
Robustness/ Survivability
Fusion algorithms
(similar sensors)
A Typical Case Study (Case study #1)
Results
Conclusion
Seeker EKF Formulation
1 s 1
Random EKF Estimator
Acceleration
1 s 2
+ x̂
Missile + Predicted State Predicted
Kinematics & Update Measurements
–
Seeker
Noise + +
+ Seeker
Measurements
Achieved
Acceleration Autopilot & Commanded Acceleration Guidance
Actuator Law
•Inertial Frame
CONSTRAINTS
• Measurement Data at 25 milliseconds
interval
• Measurement noise is non gaussian due
to effect of eclipsing, glint, thermal noise
and RCS fluctuations
•There is an aperiodic data loss in LOS
rates due to eclipsing, RCS fluctuations
Different Seeker Measurements
Measurements Eclipsing Zone Non Eclipsing Zone
Range Rate A A
NA = Not Available
A = Available
Total 5 and 3 measurements during non eclipsing and
eclipsing time zones respectively
Different DCM Matrices
KALMAN FILTER FORMULATION
(CP Frame)
Radar EKF Formulation
Tracking Radar at launch point (schematic)
Derivation of measurement equations from radar measurements
Filter Tuning Elements (P_0, Q)
Time History of measured range and range rate
estimation error averaged over 25 MC (Filter #1, Filter #2)
Measured yaw, pitch gimbal angle estimation error
hostory averaged over 25 MC (Filter #1, Filter #2)
Time History of LOS rates (yaw + pitch) estimation error
averaged over 25 MC (Filter #1, Filter #2)
Time History of Delta x estimation error
averaged over 25 MC (Filter #1, Filter #2)
Time History of Delta y estimation error
averaged over 25 MC (Filter #1, Filter #2)
Time History of Delta z estimation error
averaged over 25 MC (Filter #1, Filter #2)
Time History of Delta V_ x estimation error
averaged over 25 MC (Filter #1, Filter #2)
Time History of Delta V_ y estimation error
averaged over 25 MC (Filter #1, Filter #2)
Time History of Delta V_ z estimation error
averaged over 25 MC (Filter #1, Filter #2)
Normplot of LOS rate measurement noise along yaw, pitch channel
RECAPITULATION AND CONCLUSION
Other Contributors
Dr. M R Ananathasayanam
Dr. S Vathsal