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Open AccessArticle

1-Point RANSAC UKF with Inverse Covariance Intersection for Fault Tolerance

1
School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea
2
Department of Mechanical System Engineering, Kumoh National Institute of Technology, Gyeongbuk 39177, Korea
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(2), 353; https://doi.org/10.3390/s20020353
Received: 11 December 2019 / Revised: 3 January 2020 / Accepted: 7 January 2020 / Published: 8 January 2020
(This article belongs to the Section Intelligent Sensors)
The fault tolerance estimation method is proposed to maintain reliable correspondences between sensor data and estimation performance regardless of the number of valid measurements. The proposed method is based on the 1-point random sample consensus (RANSAC) unscented Kalman filter (UKF), and the inverse covariance intersection (ICI)-based data fusion method is added to the update process in the proposed algorithm. To verify the performance of the proposed algorithm, two analyses are performed with respect to the degree of measurement error reduction and accuracy of generated information. In addition, experiments are conducted using the dead reckoning (DR)/global positioning system (GPS) navigation system with a barometric altimeter to confirm the performance of fault tolerance in the altitude. It is confirmed that the proposed algorithm maintains estimation performance when there are not enough valid measurements. View Full-Text
Keywords: fault tolerance; inverse covariance intersection; 1-point RANSAC UKF; robust estimation filtering fault tolerance; inverse covariance intersection; 1-point RANSAC UKF; robust estimation filtering
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MDPI and ACS Style

Kim, S.Y.; Kang, C.H.; Song, J.W. 1-Point RANSAC UKF with Inverse Covariance Intersection for Fault Tolerance. Sensors 2020, 20, 353. https://doi.org/10.3390/s20020353

AMA Style

Kim SY, Kang CH, Song JW. 1-Point RANSAC UKF with Inverse Covariance Intersection for Fault Tolerance. Sensors. 2020; 20(2):353. https://doi.org/10.3390/s20020353

Chicago/Turabian Style

Kim, Sun Y.; Kang, Chang H.; Song, Jin W. 2020. "1-Point RANSAC UKF with Inverse Covariance Intersection for Fault Tolerance" Sensors 20, no. 2: 353. https://doi.org/10.3390/s20020353

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