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2013 (Vol. 6, Issue: 18)
Article Information:

RBUKF Sensor Data Fusion for Localization of Unmanned Mobile Platform

Longmei Zhao, Panlong Wu and Hongjun Cao
Corresponding Author:  Panlong Wu 

Key words:  Data fusion, EKF, localization, RBUKF, sensor, UKF,
Vol. 6 , (18): 3462-3468
Submitted Accepted Published
January 22, 2013 March 02, 2013 October 10, 2013
Abstract:

Due to the limited localization precision of single sensor, a sensor data fusion is introduced based on Rao-Blackwellization Unscented Kalman Filter (RBUKF) that fuses the sensor data of a GPS receiver, one gyro and one compass. RBUKF algorithm is compared with that of Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) in this study. The experimental results show that the RBUKF algorithm can more effectively improve tracking accuracy and reduce computational complexity than the other algorithms and has practical significance.
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  Cite this Reference:
Longmei Zhao, Panlong Wu and Hongjun Cao, 2013. RBUKF Sensor Data Fusion for Localization of Unmanned Mobile Platform.  Research Journal of Applied Sciences, Engineering and Technology, 6(18): 3462-3468.
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ISSN (Online):  2040-7467
ISSN (Print):   2040-7459
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