3D Dead Reckoning for Modular Vehicle Based on Decentralized Data Association.
Masafumi Hashimoto, Yuichi ISHIDA, Fuminori OBA · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2003
A decentralized data association is presented for 3D dead reckoning in a modular omnidirectional vehicle. Wheel units assembled into the vehicle partially estimates the vehicle position based on their own onboard sensors. The partial estimates are exchanged among the units and fused in a decentralized manner. Then the units can precisely identify the vehicle position. The dead reckoning algorithm is formulated based on the information filter and the Covariance Intersection to effectively integrate the partial estimates without taking into consideration their correlation. The unscented transformation is also exploited to predict the vehicle position without linearizing the nonlinear model related to the vehicle motion. The proposed method brings highly modularity and extendibility in the dead reckoning system. Experimental results validate that the proposed dead reckoning provides better positioning accuracy than the conventional Kalman filter-based method does.