SKD3400750
发布时间：2019-01-14 11:40:53点击率：
SKD3400750
SKD3400750
SKD3400750
SKD3400750
双目视觉传感器对动态环境适应性强，超声测距传感器的测量精度高，为满足动态的应用场景，本文将进行这两种传感器的融合研究，需要指出，由于干扰信号的存在，在进行融合之前，先使用卡尔曼滤波算法对两种传感器获取的距离信息进行滤波处理。
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1、卡尔曼滤波算法与STF融合算法
由于受杂波等干扰信号的影响，传感器获取的距离信息具有统计信号的特征，为保证测量精度，需要进行参数估计，根据具体的情况，解决参数估计问题的常用方法有卡尔曼滤波、α-β滤波、α-β-γ滤波等。卡尔曼滤波算法主要有两条主线，一条是基于自协方差矩阵的运算，另一条是基于滤波值和预测值的运算，两者通过增益矩阵联系起来。
多传感器信息融合方法大致可以分为三类，即，概率统计方法、逻辑推理方法和学习方法。使用模糊推理、D-S证据理论和产生式规则的方法进行信息融合，这些方法都属于逻辑推理的范畴;使用神经网络的方法进行信息融合，该方法属于学习方法的范畴，依据这些融合算法，均达到了预期效果。本文中使用的STF融合算法则是概率统计方法的一种。
假设仿生四足机器人上的双目视觉传感器和超声测距传感器获取的状态向量的估计值分别为和，协方差矩阵分别为P1和P2，互协方差矩阵P12=P21T。当P12=P21T≈0时，为了得到状态向量和协方差矩阵的 估计值，可以使用STF融合算法。
系统状态向量和协方差矩阵的 估计分别为
2、匀速直线运动模型
匀速直线运动（constantvelocity，CV）模型。CV直线运动模型的一般描述为：目标做CV直线运动，位移为x（t），速度为，加速度。实际情况中，速度在有随机扰动的情况下会发生轻微变化，假设这个随机扰动是均值为零的高斯白噪声。在此条件下，经离散处理后，卡尔曼滤波的基本公式可表示如下
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