Adaptive compensation of measurement delays in multi-sensor fusion for inertial motion tracking using moving horizon estimation

Adaptive compensation of measurement delays in multi-sensor fusion for inertial motion tracking using moving horizon estimation

Girrbach, Fabian (Xsens Technologies)
Kok, M. (TU Delft Team Jan-Willem van Wingerden)
Zandbergen, Raymond (Xsens Technologies)
Hageman, Tijmen (Xsens Technologies)
Diehl, Moritz (Albert-Ludwigs-Universität Freiburg)

2020

Robust and accurate pose estimation of moving systems is a challenging task that is often tackled by combining information from different sensor subsystems in a multi-sensor fusion setup. To obtain robust and accurate estimates, it is crucial to respect the exact time of each measurement. Data fusion is additionally challenged when the sensors are running at different rates and the information is subject to processing- and transmission delays. In this paper, we present an optimization-based moving horizon estimator which allows to estimate and compensate for time-varying measurement delays without the need for any synchronization signals between the sensors. By adopting a direct collocation approach, we find a continuous-time solution for the navigation states which allows us to incorporate the discrete-time sensor measurements in an optimal way despite the presence of unknown time delays. The presented sensor fusion algorithm is applied to the problem of pose estimation by fusing data of a high-rate inertial measurement unit and a low-rate centimeter-accurate global navigation satellite system receiver using simulated and real-data experiments.

Direct collocation
GNSS
IMU
MHE
Multi-sensor
RTK
Sensor fusion
State estimation

http://resolver.tudelft.nl/uuid:dd0b2e14-f75a-47f0-84f6-98ace1976456

https://doi.org/10.23919/FUSION45008.2020.9190632

IEEE, Piscataway, NJ, USA

2021-03-10

978-0-5786470-9-8

Proceedings of 2020 23rd International Conference on Information Fusion, FUSION 2020

23rd International Conference on Information Fusion, FUSION 2020, 2020-07-06 → 2020-07-09, Virtual, Pretoria, South Africa

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2020 Fabian Girrbach, M. Kok, Raymond Zandbergen, Tijmen Hageman, Moritz Diehl