University of Limerick Institutional Repository

Data incest in cooperative localisation with the common past-invariant ensemble Kalman filter

DSpace Repository

Show simple item record Čurn, Jan Marinescu, Dan O'Hara, Niall Cahill, Vinny 2013-12-02T14:15:57Z 2013-12-02T14:15:57Z 2013
dc.description peer-reviewed en_US
dc.description.abstract In this paper we consider the problem of cooperative vehicle localisation, in which a group of vehicles are driving in an outdoor environment, each estimating their position using a global positioning system (GPS) and odometry. Additionally, the vehicles can improve their estimates by observing positions of other vehicles using a proximity sensor, such as a radar, and a mutual communication, which is especially helpful to those vehicles operating in areas with no GPS coverage. In a distributed fusion system, each vehicle needs to account for the fact that information received from other vehicles might originate in part from the vehicle itself, resulting in a correlation between the state estimate and observation errors. This problem, also known as data incest, is amplified by the dynamic and unstructured nature of the communication topology, inherent to a cooperative localisation scenario. We provide a novel solution to the problem based on the Common Past-Invariant Ensemble Kalman filter (CPI-EnKF) - a generalisation of the Ensemble Kalman filter that can be applied in the presence of common past information shared between the state estimate and the observation, which has been recently proposed by this paper’s authors. As we will demonstrate, the CPI-EnKF is simpler to apply, provides better estimates, can be scaled to an arbitrary number of vehicles and is computationally more efficient than other similar methods. en_US
dc.language.iso eng en_US
dc.publisher IEEE Computer Society en_US
dc.relation.ispartofseries Proceedings of the 16th International Conference on Information Fusion (FUSION 2013);pp.68-76
dc.rights “© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.” en_US
dc.subject vehicle localisation en_US
dc.subject GPS en_US
dc.subject EnKF en_US
dc.title Data incest in cooperative localisation with the common past-invariant ensemble Kalman filter en_US
dc.type info:eu-repo/semantics/conferenceObject en_US
dc.type.supercollection all_ul_research en_US
dc.type.supercollection ul_published_reviewed en_US
dc.contributor.sponsor SFI en_US
dc.rights.accessrights info:eu-repo/semantics/closedAccess en_US

Files in this item

This item appears in the following Collection(s)

Show simple item record

Search ULIR


My Account