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Development of Netwoked Multi-Sensor System and Research on Information Fusion Algorithm

Author: GuoLiang
Tutor: LiuGuoLiang
School: Harbin Institute of Technology
Course: Control Science and Engineering
Keywords: Sensor networks Multi-sensor fusion The Federal Kalman filtering algorithm EM algorithm EM-FKF algorithm
CLC: TP212.9
Type: Master's thesis
Year: 2011
Downloads: 113
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Abstract


With the development and popularization of the Internet, Internet-based wired or wireless sensor network technology has become an important means to realize the remote monitoring and control in the field of industrial and civil. To RS232/RS485 protocol as well as the industrial fieldbus transmission means multi-sensor system is far from meeting the requirements of the modern industrial system of remote monitoring and control, and Internet-based multi-sensor network monitoring and control technology presents higher demand trend, especially of Things technology in China's rapid development. Therefore the development of Internet-based remote monitoring and control system, and compatible with existing RS232/RS485 fieldbus system is imperative. Secondly, for a complex multi-sensor system before, during network transmission necessary for multi-sensor data fusion, to ease the load on the network system. For intelligent vehicle based on the multi-sensor system, as well as the aerospace vehicle, the most important means of fusion is still Kalman filtering technique, but for more complex systems, with the increase in the number of state variables dimension, the centralized calculation of the Kalman filter algorithm The amount will be rising exponentially. In response to these circumstances, the project gives the corresponding solutions, mainly includes the following contents: (1) by the method of learning the embedded Internet to determine the design of microprocessor combined with the Ethernet controller, and in accordance with the program designed to control the core to ATmeaga128 RTL8019AS Ethernet controller chip data converters. Identified by comparing the commonly used embedded operating system, NUT / OS operating system as a development platform, and meet the engineering requirements of data conversion program was developed on the basis of the platform. Using the on-site monitoring of the users of the system can be achieved through the Internet. (2) For a complex multi-sensor system, prior to making network transmission necessary for multi-sensor data fusion, to ease the load on the network system. Distributed based on multi-sensor information fusion algorithm main research Federal Kalman filter algorithm. Use the the Federal Kalman filtering algorithm by modeling of the INS / GPS / SS integrated navigation system, INS, GPS and star sensor multi-sensor data fusion process, the effectiveness of the federal filtering algorithm is verified by simulation. (3) Second, the federal Kalman filter local filter for complex navigation systems calculate the volume weakness in the case of high-dimensional state variable filter in each local filter using the EM algorithm, the EM algorithm E step Kalman filter algorithm given estimates of the public state variables, given the M step of the EM algorithm error state variables specific to each local filter update M-step update process public state variables and the main filter fusion The process simultaneously, thus saving the the local filter the filter time, and finally verified by simulation of the EM-FKF algorithm to reduce the amount of computation superiority.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation components,parts > Transmitter ( converter),the sensor > Sensor applications
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