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On the basis of analysis the double observers passive location principle, this paper presents a real-time algorithm in order to deal with the sensor registration problem while the sensors can get the TOA(Time of Arrival) and angle measurements. By constructing the equivalent measurement, the algorithm can online estimate the TOA and Angle bias using Kalman Filter(KF). Finally, the Monte-Carlo simulation...
In order to improve the accuracy and reliability of the measurement system, data fusion is frequently used in an autonomous robot to fuse multi-sensor information of measurement system. Several kinds of methods of multi-sensor data fusion are analyzed. Kalman filter is applied in an underwater autonomous robot to fuse redundant information. The autonomous robot is designed to dig hole in the mud underwater...
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