Introduction to Kalman Filter and Its Applications

Kim, Youngjoo; Bang, Hyochoong

doi:10.5772/intechopen.80600

Cited by 113 publications

(55 citation statements)

References 11 publications

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“…An introduction to the Kalman filter is presented by [48]. It can be used to track the movement or position of a structure using measured dynamic properties (e.g.…”

Section: Sensor Fusion Of Rotational Measurementsmentioning

confidence: 99%

Tracking bridge tilt behaviour using sensor fusion techniques

Faulkner

Wang

Huseynov

2020

J Civil Struct Health Monit

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The resilience of the built environment to extreme weather events is fundamental for the day-today operation of our transport network, with scour representing one of the biggest threats to bridges built over flowing water. Condition monitoring of the bridge using a structural health monitoring system enhances resilience by reducing the time needed to return the bridge to normal use by providing timely information on structural condition and safety. The work presented in this report discusses use of rotational measurements in structural health monitoring. Traditionally tiltmeters (which can be a form of DC accelerometer) are used to measure rotation but are known to be affected by dynamic movements, while gyroscopes react quickly to dynamic motion but drift over time. This review will introduce gyroscopes as a complementary sensor for accelerometer rotational measurements and use sensor fusion techniques to combine the measurements from both sensors to get an optimised rotational result. This method was trialled on a laboratory scaled model, before the system was installed on an in-service single-span skewed railway bridge. The rotational measurements were compared against rotation measurements obtained using a vision-based measurement system to confirm the validity of the results. An introduction to gyroscopes, field test measurement results with the sensors and their correlation with the vision-based measurement results are presented in this article.

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“…An introduction to the Kalman filter is presented by [48]. It can be used to track the movement or position of a structure using measured dynamic properties (e.g.…”

Section: Sensor Fusion Of Rotational Measurementsmentioning

confidence: 99%

Tracking bridge tilt behaviour using sensor fusion techniques

Faulkner

Wang

Huseynov

2020

J Civil Struct Health Monit

View full text Add to dashboard Cite

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“…The Kalman filter operates by repeating a series of two stages: Prediction and update [ 22 ]. Using the system model, it predicts the state variables, compensates for the difference between the measured variables and their predicted values, and outputs a new estimation of the state variables…”

Section: Generation Of Subject Vehicle Trajectorymentioning

confidence: 99%

A Novel Path Planning Algorithm for Truck Platooning Using V2V Communication

Lee

Ahn

Lee

et al. 2020

Sensors

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In truck platooning, the leading vehicle is driven manually, and the following vehicles run by autonomous driving, with the short inter-vehicle distance between trucks. To successfully perform platooning in various situations, each truck must maintain dynamic stability, and furthermore, the whole system must maintain string stability. Due to the short front-view range, however, the following vehicles’ path planning capabilities become significantly impaired. In addition, in platooning with articulated cargo trucks, the off-tracking phenomenon occurring on a curved road makes it hard for the following vehicle to track the trajectory of the preceding truck. In addition, without knowledge of the global coordinate system, it is difficult to correlate the local coordinate systems that each truck relies on for sensing environment and dynamic signals. In this paper, in order to solve these problems, a path planning algorithm for platooning of articulated cargo trucks has been developed. Using the Kalman filter, V2V (Vehicle-to-Vehicle) communication, and a novel update-and-conversion method, each following vehicle can accurately compute the trajectory of the leading vehicle’s front part for using it as a target path. The path planning algorithm of this paper was validated by simulations on severe driving scenarios and by tests on an actual road. The results demonstrated that the algorithm could provide lateral string stability and robustness for truck platooning.

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“…It is a mathematical iterative process that use a set of consecutive data and equations that quickly input to estimate the true value like velocity, position, etc of the measured object, when the measured value is random error uncertainty or vibration or unpredicted [26][27][28]. Figure 3 shows the block diagram of the process of Kalman filter.…”

Section: Kalman Filtermentioning

confidence: 99%

Medical remotely caring with COVID-19 virus infected people using optimized wireless arm tracing system

2020

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A human arm makes many functions that a robotic arm always programmed to make same functions. The human limbs motion can be captured using sensors that they will always copy hand movement. The rapid spread of the Coronavirus (COVID-19) virus and contacting the infections make the number of patients doubled in short time. The system proposed in this research can protect clinicians against infection with virus by reducing the contact with the infected and treat them remotely. This system type can be useful in different other fields of industrial works and defense where dangerous and delicate task can be done remotely without actual touch. Xbee shield is used to allow a hand glove flex sensor to communicate with the robotic arm using Zigbee wirelessly. Zigbee here is based on Xbee module from Max stream that can be communicate outdoor for 300 feet with the line of sight and indoor for 100 feet. Proportional, integral and derivative (PID) controller used in the proposed system to achieve smooth movement of limbs. The desired signal comes from flex sensor that connected to each limb. Kalman estimator proposed to find current state of each limb. In order to get better performance, particle swarm optimization (PSO) is used.

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Introduction to Kalman Filter and Its Applications

Cited by 113 publications

References 11 publications

Tracking bridge tilt behaviour using sensor fusion techniques

Tracking bridge tilt behaviour using sensor fusion techniques

A Novel Path Planning Algorithm for Truck Platooning Using V2V Communication

Medical remotely caring with COVID-19 virus infected people using optimized wireless arm tracing system

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