Comparing Kalman Filter and Diffuse Kalman Filter on a GPS Signal with Noise
Volume 9, Issue 1, Page No 124–132, 2024
Adv. Sci. Technol. Eng. Syst. J. 9(1), 124–132 (2024);
DOI: 10.25046/aj090112
Keywords: Kalman Filter, Fuzzy Logic, Noise, Measurement, Filtered
The navigation control of an autonomous vehicle can be determined by the coordinates of a GPS (Global Positioning System) positioning system, angular velocity, and acceleration with an INS (Inertial Navigation System). However, the errors associated with these devices do not allow it to be the only measurement system used in an autonomous vehicle. The need arises to implement tools that determine the system’s state reliably at any instant and perform the necessary control actions to fulfill the trajectory optimally, considering the system’s internal model. Therefore, applying a Diffuse Kalman filter is vital, allowing information integration from GPS and other devices. This work was divided into three essential parts such as the Kalman filter, the fuzzy control, and the simulation of a GPS sensor signal, taking into account that, in this last part, a comparison is made with the behavior of a Diffuse Kalman filter. In general, due to the comparisons of the position estimations in GPS measurements, it is evident that the DKF achieves more efficient reliability values since the position estimation error is reduced.
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- Ajay Poonjal Pai, Tomas Reiter, Oleg Vodyakho, Martin Maerz, "Mission Profile Analysis of a SiC Hybrid Module for Automotive Traction Inverters and its Experimental Power-loss Validation with Electrical and Calorimetric Methods", Advances in Science, Technology and Engineering Systems Journal, vol. 3, no. 1, pp. 329–341, 2018. doi: 10.25046/aj030140
- Cyrille Caironi, Bernhard Fruth, Detlef Hummes, Rudolf Blank, "Influence of supply frequency on dissipation factor measurement and stator insulation diagnosis", Advances in Science, Technology and Engineering Systems Journal, vol. 3, no. 1, pp. 155–159, 2018. doi: 10.25046/aj030119
- Gints Poiss, Sandra Vitolina, Janis Marks, "Development of Indicators for Technical Condition Indexing of Power Transformers", Advances in Science, Technology and Engineering Systems Journal, vol. 3, no. 1, pp. 148–154, 2018. doi: 10.25046/aj030118
- Oleksandr Poliarus, Yevhen Poliakov, Andrii Lebedynskyi, Viktor Ivanov, Ruslan Pashchenko, "Measurement of the Bridge Surface Deflections Using Near-Field Amplitude of Secondary Radiators System", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 6, pp. 217–224, 2017. doi: 10.25046/aj020626
- Faten Ayadi, Mongi Lahiani, Nabil Derbel, "Kalman filter Observer for SoC prediction of Lithium cells", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 4, pp. 180–188, 2017. doi: 10.25046/aj020424
- Zoltan Sarkany, Marta Rencz, "A Way for Measuring the Temperature Transients of Capacitors", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 3, pp. 1381–1389, 2017. doi: 10.25046/aj0203174
- Syarifah Noor Syakiylla Sayed Daud, Rubita Sudirman, "Evaluating the Effect of Mozart Music and White Noise on Electroencephalography Pattern toward Visual Memory", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 3, pp. 1372–1380, 2017. doi: 10.25046/aj0203173
- Ammar Al-Gizi, Sarab Al-Chlaihawi, Aurelian Craciunescu, "Efficiency of Photovoltaic Maximum Power Point Tracking Controller Based on a Fuzzy Logic", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 3, pp. 1245–1251, 2017. doi: 10.25046/aj0203157
- Shuji Shinohara, Yasuhiro Omiya, Mitsuteru Nakamura, Naoki Hagiwara, Masakazu Higuchi, Shunji Mitsuyoshi, Shinichi Tokuno, "Multilingual evaluation of voice disability index using pitch rate", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 3, pp. 765–772, 2017. doi: 10.25046/aj020397
- Imad Elzein, Yury Petrenko, "Adapting Model Predictive Control for a PV Station and Evaluating two different MPPT Algorithms P&O and FLC", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 3, pp. 741–748, 2017. doi: 10.25046/aj020394
- Maulana Erwin Saputra, Safrizal, "Analysis of Learning Development With Sugeno Fuzzy Logic And Clustering", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 5, pp. 26–30, 2017. doi: 10.25046/aj020505
- Ouafae Kasmi, Amine Baina, Mostafa Bellafkih, "Multi Level Integrity Management in LTE/LTE-A Networks", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 3, pp. 658–668, 2017. doi: 10.25046/aj020384
- Fatma Abdelhedi, Nabil Derbel, "A delay-dependent distributed SMC for stabilization of a networked robotic system exposed to external disturbances", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 3, pp. 513–519, 2017. doi: 10.25046/aj020366
- Kassem Jomaa, Fabien Ndagijimana, Hussam Ayad, Majida Fadlallah, Jalal Jomaah, "RFID Antenna Near-field Characterization Using a New 3D Magnetic Field Probe", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 3, pp. 492–497, 2017. doi: 10.25046/aj020363
- Alvaro Anzueto-Rios, Jose Antonio Moreno-Cadenas, Felipe Gómez-Castañeda, Sergio Garduza-Gonzalez, "Image Segmentation Using Fuzzy Inference System on YCbCr Color Model", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 3, pp. 460–468, 2017. doi: 10.25046/aj020359
- Arsen Klochan, Ali Al-Ammouri, Viktor Romanenko, Vladimir Tronko, "Aviation Navigation with Use of Polarimetric Technologies", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 3, pp. 67–72, 2017. doi: 10.25046/aj020310
- Martín, María de los Ángeles, Diván, Mario José, "Applications of Case Based Organizational Memory Supported by the PAbMM Architecture", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 3, pp. 12–23, 2017. doi: 10.25046/aj020303
- Ravikumar Setty A., Kishore Chatterjee, "Detailed Analysis of Torque Ripple in High Frequency Signal Injection based Sensor less PMSM Drives", Advances in Science, Technology and Engineering Systems Journal, vol. 2, no. 1, pp. 206–213, 2017. doi: 10.25046/aj020125