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Système de Localisation Robuste Multi-Capteurs Et Multi-Modèles by Ndjeng Ndjeng-A

Système de Localisation Robuste Multi-Capteurs Et Multi-Modèles

by Ndjeng Ndjeng-A
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Book cover type: Paperback
  • ISBN13: 9786131527579
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Omniscriptum
  • Publisher Imprint: Omniscriptum
  • Publication Date:
  • Pages: 224
  • Original Price: GBP 57.0
  • Language: French
  • Edition: N/A
  • Item Weight: 336 grams
  • BISAC Subject(s): Electrical

De nombreux travaux de recherches sont menés depuis quelques années dans le but de fournir une solution précise et intègre au problème de la localisation de véhicules routiers. Ces recherches sont en majorité fondées sur la théorie probabiliste de l'estimation. Elles utilisent la fusion multi-capteurs et le filtrage de Kalman mono-modèle, au travers de ses variantes adaptés aux systèmes non linéaires. Dans ce livre, une analyse multi-modèles est présentée: L'espace d'évolution du véhicule est pris comme un espace discret et des modèles simples permettent de décrire ce système. Il s'agit d'une variante de l'algorithme IMM, qui prend en compte l'asynchronisme des capteurs embarqués, dans le processus d'estimation de l'état du véhicule. La nouvelle modélisation qui est développée permet alors de mettre à jour l'état de chaque sous-système, mème en l'absence de mesures de capteurs décrivant la réalité terrain. Enfin, une étude comparative entre ce nouvel algorithme et les approches d'estimation classiques (EKF, UKF, DD1, DD2 ou le filtrage particulaire) permet de valider la performance et la robustesse de la méthode développée, notamment dans des contextes de conduite extrème.

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