title: An Accurate and Fault-Tolerant Target Positioning System for Buildings Using Laser Rangefinders and Low-Cost MEMS-Based MARG Sensors.
abstract: Target positioning systems based on MEMS gyros and laser rangefinders (LRs) have extensive prospects due to their advantages of low cost, small size and easy realization. The target positioning accuracy is mainly determined by the LR's attitude derived by the gyros. However, the attitude error is large due to the inherent noises from isolated MEMS gyros. In this paper, both accelerometer/magnetometer and LR attitude aiding systems are introduced to aid MEMS gyros. A no-reset Federated Kalman Filter (FKF) is employed, which consists of two local Kalman Filters (KF) and a Master Filter (MF). The local KFs are designed by using the Direction Cosine Matrix (DCM)-based dynamic equations and the measurements from the two aiding systems. The KFs can estimate the attitude simultaneously to limit the attitude errors resulting from the gyros. Then, the MF fuses the redundant attitude estimates to yield globally optimal estimates. Simulation and experimental results demonstrate that the FKF-based system can improve the target positioning accuracy effectively and allow for good fault-tolerant capability.
authors.affiliation: Marine Navigation Research Institute, College of Automation, Harbin Engineering University, Harbin 150001, China. zhaolin@hrbeu.edu.cn.
authors.forename: Lin
authors.initials: L
authors.lastname: Zhao
authors.affiliation: Marine Navigation Research Institute, College of Automation, Harbin Engineering University, Harbin 150001, China. guandongxue@hrbeu.edu.cn.
authors.forename: Dongxue
authors.initials: D
authors.lastname: Guan
authors.affiliation: LASSENA, École de Technologie Supérieure, 1100 Notre-Dame Street West, Montreal, QC H3C 1K3, Canada. renejr.landry@etsmtl.ca.
authors.forename: René
authors.initials: R
authors.lastname: Landry
authors.affiliation: Marine Navigation Research Institute, College of Automation, Harbin Engineering University, Harbin 150001, China. ins_cheng@163.com.
authors.forename: Jianhua
authors.initials: J
authors.lastname: Cheng
authors.affiliation: LASSENA, École de Technologie Supérieure, 1100 Notre-Dame Street West, Montreal, QC H3C 1K3, Canada. kostyantyn.sydorenko.1@etsmtl.net.
authors.forename: Kostyantyn
authors.initials: K
authors.lastname: Sydorenko
keywords: AHRS; FKF; fault-tolerant; laser-aided system; target positioning