Multi-sensor fusion approach based on nonlinear H∞ filter with interval type 2 fuzzy adaptive parameters tuning for unmanned vehicle localization

Abstract

In most applications of autonomous navigation, the state of a system must be estimated from noisy sensors. Accurate estimation of the true system state can be achieved using data fusion algorithms. Furthermore, the fusion scheme can be affected by many factors such as modeling errors and parameters uncertainties. The gaps and inconsistencies due to the sensors noise and modeling errors can be reached with robust nonlinear filtering. In this article, a new framework has been developed for data fusion algorithms based on nonlinear NH∞ filter with fuzzy adaptive bound and adaptive disturbances attenuations. Type-1 Fuzzy Adaptive NH_∞ algorithm has been proposed and compared with the Interval Type 2 Fuzzy Adaptive NH_∞, for unmanned vehicle localization. The proposed algorithms fuse data from low-cost sensors using inertial navigation system, Global Positioning System and monocular vision. Type-1 Fuzzy Adaptive NH_∞ and Interval Type 2 Fuzzy Adaptive NH_∞ algorithms, adaptively, handle the effects of noisy sensors, parameters uncertainties and modeling errors. Both algorithms use adaptive bounds $({\delta }_i)$ and adaptive disturbance attenuation $(\gamma )$ for higher-order terms of the Taylor development. The adaptive bounds consider issues associated to Gyro drift, image distortion and Global Positioning System dilution of precision which make the proposed algorithms more accurate than the classical NH∞. The validating experiment and the efficiency of Type-1 Fuzzy Adaptive NH_∞ and Interval Type 2 Fuzzy Adaptive NH_∞ have been conducted in real scenario and in unstructured outdoor environment without any a priori knowledge of the evolution of the vehicle. The experimental results have demonstrated the robustness and efficiency of these two filtering strategies against uncertainties and their online sensor switching capability. The Interval Type 2 Fuzzy Adaptive NH_∞ algorithm provides more accuracy and robustness compared to the Type-1 Fuzzy Adaptive NH_∞.