Navigation in autonomous vehicles involves integrating measurements from on–board inertial sensors and external data collected by various sensors. In this paper, the computer–frame velocity error model is augmented with a random constant model of accelerometer bias and rategyro drift for use in a Kalman filter–based fusion of a lowcost rotating inertial navigation system (INS) with external pos...

Sensor measurements are typically vitiated by a measurement error caused by the sensor’s imperfectness or external disturbances. Whenever this measurement error is to large to be neglected it is necessary to fuse measurements from multiple sensors into a more dependable estimation of the measurement value. This paper derives a fusion method for fusing tuples of sensor measurements and confidenc...

Data fusion using Kalman filters requires reasonably good error models. Our intention to fuse line segments, corners and edges obtained from a laser scanner and from advanced sonars provided the motivation on the investigation of Sick PLS laser scanner range measurement reliability, and line segment estimation precision. We present an approach for fitting lines straight in the lasers polar coor...

This paper deals with state estimation of micro tunable capacitor subjected to nonlinear electrostatic force. For this end a nonlinear observer has been designed for state estimation of the structure.  Necessary and sufficient conditions for construction of the observer are presented. Stability of the observer is checked using Lyapunov theorem. Observer design is based on converting of differen...

The estimation of pollution fields, especially in densely populated areas, is an important application in the field of environmental science due to the significant effects of air pollution on public health. In this paper, we investigate the spatial distribution of three air pollutants in Tehran’s atmosphere: carbon monoxide (CO), nitrogen dioxide (NO2), and atmospheric particulate matters less ...

One of the important issues in many of array systems such as Radar, Sonar, Mobile, and satellite telecommunications is the estimation of DOA of narrowband received signal. CRB is very important in evaluation of parameter estimation. CRB is the lower bound estimation error variance for any unbiased estimation. In this paper, the array antenna with equal distance arrays is extended in two separat...