Title :

Fault tolerant fusion using α-Rényi divergence for autonomous vehicle localization

Author(s) :

Makkawi, Khoder [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Ait-Tmazirte, Nourdine [Auteur]
El, Maan [Auteur]
El Najjar, Badaoui [Auteur]
Moubayed, Nazih [Auteur]

Conference title :

Advanced Control and Diagnosis - 15th ACD 2019

City :

Bologna

Country :

Italie

Start date of the conference :

2019-11-21

English keyword(s) :

Localization
multi-sensors fusion
α-Rényi Divergence
Information metrics
Fault Detection and Exclusion
GNSS

HAL domain(s) :

Informatique [cs]/Théorie de l'information [cs.IT]
Informatique [cs]/Robotique [cs.RO]
Sciences de l'ingénieur [physics]/Automatique / Robotique

English abstract : [en]

The use of satellites localization system (GNSS: Global Navigation Satellites System) has become essential in an outdoor environment. However, suffering from several degradations such as satellites masking, NLOS/multipath ...
Show more >The use of satellites localization system (GNSS: Global Navigation Satellites System) has become essential in an outdoor environment. However, suffering from several degradations such as satellites masking, NLOS/multipath or interferences, GNSS alone is not able to ensure the availability, continuity and integrity of a safety-critical localization function. Therefore, a multi-sensor fusion step of satellites measurements with proprioceptive data is necessary. Adding also, the erroneous measurements should be detected and excluded from the fusion procedure in order to ensure the high level of position estimation integrity. In this work, a tightly coupled architecture (GNSS/Odometer) method is presented by applying a Nonlinear Information Filter (NIF) integrating a Fault Detection and Exclusion (FDE) stage based on -Rényi Divergence (-RD). An appropriate fixed threshold is used based on a Receiver operating characteristic (ROC) study. Field obtained GNSS and Odometer data are used in experimental studies to show the performance of our proposed algorithm.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL