Multi-sensor performance evaluation and management in integrated navigation based on observability analysis

Kai Shen; Meiling Wang; Zhang Yin; Konstantin A. Neusypin

doi:10.1109/CCDC.2019.8833149

Multi-sensor performance evaluation and management in integrated navigation based on observability analysis

Kai Shen
, Meiling Wang
, Zhang Yin
, Konstantin A. Neusypin

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

This paper presents a new way of multi-sensor performance evaluation and management in integrated navigation based on observability analysis. First, the general observability theory of linear systems was reviewed, and consequently a definition of local observability and local observability matrix were further introduced. Second, a scalar form of the degree of observability was present from the point of view of estimation quality. Third, the application of the degree of observability to integrated navigation systems was illustrated. As expected, the simulation results showed that the degree of observability can help us to gain the information about how observable a state-variable is, and can further function as an indicator to evaluate the performance of each navigation sensor and autonomously manage sensors in integrated navigation systems.

Original language	English
Title of host publication	Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	275-280
Number of pages	6
ISBN (Electronic)	9781728101057
DOIs	https://doi.org/10.1109/CCDC.2019.8833149
Publication status	Published - Jun 2019
Event	31st Chinese Control and Decision Conference, CCDC 2019 - Nanchang, China Duration: 3 Jun 2019 → 5 Jun 2019

Publication series

Name	Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019

Conference

Conference	31st Chinese Control and Decision Conference, CCDC 2019
Country/Territory	China
City	Nanchang
Period	3/06/19 → 5/06/19

Keywords

integrated navigation.
multi-sensor management
observability analysis
performance evaluation
the degree of observability

Access to Document

10.1109/CCDC.2019.8833149

Cite this

Shen, K., Wang, M., Yin, Z., & Neusypin, K. A. (2019). Multi-sensor performance evaluation and management in integrated navigation based on observability analysis. In Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019 (pp. 275-280). Article 8833149 (Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2019.8833149

Shen, Kai ; Wang, Meiling ; Yin, Zhang et al. / Multi-sensor performance evaluation and management in integrated navigation based on observability analysis. Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 275-280 (Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019).

@inproceedings{bee4880b61cc4e838b4ba567e28adfef,

title = "Multi-sensor performance evaluation and management in integrated navigation based on observability analysis",

abstract = "This paper presents a new way of multi-sensor performance evaluation and management in integrated navigation based on observability analysis. First, the general observability theory of linear systems was reviewed, and consequently a definition of local observability and local observability matrix were further introduced. Second, a scalar form of the degree of observability was present from the point of view of estimation quality. Third, the application of the degree of observability to integrated navigation systems was illustrated. As expected, the simulation results showed that the degree of observability can help us to gain the information about how observable a state-variable is, and can further function as an indicator to evaluate the performance of each navigation sensor and autonomously manage sensors in integrated navigation systems.",

keywords = "integrated navigation., multi-sensor management, observability analysis, performance evaluation, the degree of observability",

author = "Kai Shen and Meiling Wang and Zhang Yin and Neusypin, \{Konstantin A.\}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 31st Chinese Control and Decision Conference, CCDC 2019 ; Conference date: 03-06-2019 Through 05-06-2019",

year = "2019",

month = jun,

doi = "10.1109/CCDC.2019.8833149",

language = "English",

series = "Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "275--280",

booktitle = "Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019",

address = "United States",

}

Shen, K , Wang, M, Yin, Z & Neusypin, KA 2019, Multi-sensor performance evaluation and management in integrated navigation based on observability analysis. in Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019., 8833149, Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019, Institute of Electrical and Electronics Engineers Inc., pp. 275-280, 31st Chinese Control and Decision Conference, CCDC 2019, Nanchang, China, 3/06/19. https://doi.org/10.1109/CCDC.2019.8833149

Multi-sensor performance evaluation and management in integrated navigation based on observability analysis. / Shen, Kai ; Wang, Meiling; Yin, Zhang et al.
Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 275-280 8833149 (Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Multi-sensor performance evaluation and management in integrated navigation based on observability analysis

AU - Shen, Kai

AU - Wang, Meiling

AU - Yin, Zhang

AU - Neusypin, Konstantin A.

PY - 2019/6

Y1 - 2019/6

N2 - This paper presents a new way of multi-sensor performance evaluation and management in integrated navigation based on observability analysis. First, the general observability theory of linear systems was reviewed, and consequently a definition of local observability and local observability matrix were further introduced. Second, a scalar form of the degree of observability was present from the point of view of estimation quality. Third, the application of the degree of observability to integrated navigation systems was illustrated. As expected, the simulation results showed that the degree of observability can help us to gain the information about how observable a state-variable is, and can further function as an indicator to evaluate the performance of each navigation sensor and autonomously manage sensors in integrated navigation systems.

AB - This paper presents a new way of multi-sensor performance evaluation and management in integrated navigation based on observability analysis. First, the general observability theory of linear systems was reviewed, and consequently a definition of local observability and local observability matrix were further introduced. Second, a scalar form of the degree of observability was present from the point of view of estimation quality. Third, the application of the degree of observability to integrated navigation systems was illustrated. As expected, the simulation results showed that the degree of observability can help us to gain the information about how observable a state-variable is, and can further function as an indicator to evaluate the performance of each navigation sensor and autonomously manage sensors in integrated navigation systems.

KW - integrated navigation.

KW - multi-sensor management

KW - observability analysis

KW - performance evaluation

KW - the degree of observability

UR - https://www.scopus.com/pages/publications/85073101996

U2 - 10.1109/CCDC.2019.8833149

DO - 10.1109/CCDC.2019.8833149

M3 - Conference contribution

AN - SCOPUS:85073101996

T3 - Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019

SP - 275

EP - 280

BT - Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 31st Chinese Control and Decision Conference, CCDC 2019

Y2 - 3 June 2019 through 5 June 2019

ER -

Shen K , Wang M, Yin Z, Neusypin KA. Multi-sensor performance evaluation and management in integrated navigation based on observability analysis. In Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 275-280. 8833149. (Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019). doi: 10.1109/CCDC.2019.8833149

Multi-sensor performance evaluation and management in integrated navigation based on observability analysis

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Keywords

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