Sensor Fusion

POSITION AND ATTITUDE MEASURING SYSTEMS FOR AUTONOMOUS VEHICLES

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 FUSION IN THE STATISTICAL DOMAIN

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