碩士 / 中原大學 / 電機工程研究所 / 90 / This thesis presents a Takagi-Sugeno fuzzy model-based parallel distributed Information filter for GPS/INS sensor fusion. Due to the complementary, the sensor fusion of GPS and INS has widly potential application in navigation. Compared to Kalman filter, the algebraic equivalent filter -- Information filter is introduced and the advantage of it is discussed. Based on T-S fuzzy model, we propose a T-S fuzzy parallel distributed Information filter to estimate the state variables. First, we need to model a nonlinear system into T-S fuzzy model, which consists of local linear subsystem . Second, information filters are applied to each linear subsystem. Using the fuzzy inferred output, the overall estimate of state for the original nonlinear system is obtained. The comparison of numerical simulations on the mobile robot by parallel distributed Information filter and parallel distributed Kalman filter is illustrated. Finally, an experiment of data fusion using the parallel distributed Information filter is implemented.
| Identifer | oai:union.ndltd.org:TW/090CYCU5442036 |
| Date | January 2002 |
| Creators | Shi-Liang Wu, 吳仕良 |
| Contributors | Kuang-Yow Lian, 練光祐 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 70 |
Page generated in 0.002 seconds