Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
MULTI-SENSOR DATA FUSION FOR NAVIGATION
Submission Author:
Alexandre Senni , SP
Co-Authors:
Alexandre Senni, Ingrid Lorena Argote Pedraza, Leonardo Bonacini, Mario Luiz Tronco
Presenter: Alexandre Senni
doi://10.26678/ABCM.COBEM2019.COB2019-0374
Abstract
In the present work a Multi-Sensor Data Fusion model is proposed to extract position and orientation of a frame from an Inertial Measurement Unit (IMU) and a Global Positioning System (GPS) for agricultural applications. Compare to other works in which the integration of the sensors occurs in different steps, in this work the sensor fusion is performed in a single stage, containing the equations of inertial navigation defined according to the adopted referential system, allowing to maximize the use of redundant data among the sensors. The system also includes a data preprocessing stage to filter the frequencies admitted essentially as noise in the project. This work demonstrates the feasibility of using low cost sensors to assist in problems of position and orientation estimation.
Keywords
Multi-sensor data fusion, Extended Kalman Filter, Inertial Measurement Unit, Global Positioning System
