Out–of-sequence measurement processing method based on multi-sensor fusion filtering

Yanhui Yu; Jiyu Wang; Shuai Duan; Zhenyu Chen; Hang Sun

doi:10.1117/12.2614114

10 November 2021 Out–of-sequence measurement processing method based on multi-sensor fusion filtering

Yanhui Yu, Jiyu Wang, Shuai Duan, Zhenyu Chen, Hang Sun

Proceedings Volume 12050, International Conference on Smart Transportation and City Engineering 2021; 1205052 (2021) https://doi.org/10.1117/12.2614114
Event: 2021 International Conference on Smart Transportation and City Engineering, 2021, Chongqing, China

Abstract

With the swift development of intelligent driving, the state of the art of synchronous perception is widely used in many industrial domains even while there has out-of-sequence measurement problems due to the existence of unsynchronized measurements, different frequencies, or background noises which would be potential barrier of further development of this technique. This paper presents a novel algorithm including the process of effectiveness validation and dual-thread particle filter (DTPF). Compared with the current state of the art, the process of effectiveness validation can efficiently reduce the computational load of dealing with OOSM, and the DTPF could bring about high efficiency, real time, and nonlinear. In the simulation portion of this paper, a two-dimensional target tracking example is given. The numerical results demonstrate that the tracking performance of our algorithm is quite precise while the computation cost is significantly reduced.

Citation Download Citation

Yanhui Yu, Jiyu Wang, Shuai Duan, Zhenyu Chen, and Hang Sun "Out–of-sequence measurement processing method based on multi-sensor fusion filtering", Proc. SPIE 12050, International Conference on Smart Transportation and City Engineering 2021, 1205052 (10 November 2021); https://doi.org/10.1117/12.2614114

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