Show simple item record

dc.contributor.authorMotwani, A
dc.contributor.authorLiu, W
dc.contributor.authorsharma, sanjay
dc.contributor.authorSutton, R
dc.contributor.authorBucknall, R
dc.date.accessioned2015-10-15T10:54:02Z
dc.date.available2015-10-15T10:54:02Z
dc.date.issued2016-08-01
dc.identifier.issn1475-0902
dc.identifier.issn2041-3084
dc.identifier.urihttp://hdl.handle.net/10026.1/3636
dc.description.abstract

<jats:p> This article presents a novel fuzzy–logic based multi-sensor data fusion algorithm for combining heading estimates from three separate weighted interval Kalman filters to construct a robust, fault-tolerant heading estimator for the navigation of the Springer autonomous surface vehicle. A single, low-cost gyroscopic unit and three independent compasses are used to acquire data onboard the vehicle. The gyroscope data, prone to sporadic bias drifts, are fused individually with readings from each of the compasses via a weighted interval Kalman filter. Unlike the standard Kalman filter, the weighted interval Kalman filter is able to provide a robust heading estimate even when subject to such gyroscope bias drifts. The three ensuing weighted interval Kalman filter estimates of the vehicle’s heading are then fused via a fuzzy logic algorithm designed to provide an accurate heading estimate even when two of the three compasses develop a fault at any time. Simulations and real-time trials demonstrate the effectiveness of the proposed method. </jats:p>

dc.format.extent491-507
dc.languageen
dc.language.isoen
dc.publisherSAGE Publications
dc.subjectMulti-sensor data fusion
dc.subjectinterval Kalman filtering
dc.subjectfuzzy logic
dc.subjectautonomous surface vehicle
dc.titleAn interval Kalman filter-based fuzzy multi-sensor fusion approach for fault-tolerant heading estimation of an autonomous surface vehicle
dc.typejournal-article
dc.typeJournal Article
plymouth.author-urlhttps://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000380936400004&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=11bb513d99f797142bcfeffcc58ea008
plymouth.issue3
plymouth.volume230
plymouth.publication-statusAccepted
plymouth.journalProceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment
dc.identifier.doi10.1177/1475090215596180
plymouth.organisational-group/Plymouth
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA12 Engineering
plymouth.organisational-group/Plymouth/Research Groups
plymouth.organisational-group/Plymouth/Research Groups/Marine Institute
plymouth.organisational-group/Plymouth/Users by role
plymouth.organisational-group/Plymouth/Users by role/Academics
dcterms.dateAccepted2015-06-11
dc.identifier.eissn2041-3084
dc.rights.embargoperiodNot known
rioxxterms.funderEngineering and Physical Sciences Research Council
rioxxterms.identifier.projectAn Intelligent Integrated Navigation and Autopilot System for Uninhabited Surface Vehicles
rioxxterms.versionofrecord10.1177/1475090215596180
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserved
rioxxterms.licenseref.startdate2016-08-01
rioxxterms.typeJournal Article/Review
plymouth.funderAn Intelligent Integrated Navigation and Autopilot System for Uninhabited Surface Vehicles::Engineering and Physical Sciences Research Council


Files in this item

Thumbnail
Thumbnail

This item appears in the following Collection(s)

Show simple item record


All items in PEARL are protected by copyright law.
Author manuscripts deposited to comply with open access mandates are made available in accordance with publisher policies. Please cite only the published version using the details provided on the item record or document. In the absence of an open licence (e.g. Creative Commons), permissions for further reuse of content should be sought from the publisher or author.
Theme by 
Atmire NV