Deep Kalman FilterSimultaneous Multi-Sensor Integration and Modelling
In this paper, we developed deep Kalman filter to model and remove IMU errors and, consequently, improve the accuracy of IMU positioning. To achieve this, we added a modelling step to the prediction and update steps of the Kalman filter, so that the IMU error model is learned during integration. The...
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| Tác giả chính: | |
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| Định dạng: | BB |
| Ngôn ngữ: | eng |
| Thông tin xuất bản: |
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2020
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| Chủ đề: | |
| Truy cập trực tuyến: | http://tailieuso.tlu.edu.vn/handle/DHTL/8487 |
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| Tóm tắt: | In this paper, we developed deep Kalman filter to model and remove IMU errors and, consequently, improve the accuracy of IMU positioning. To achieve this, we added a modelling step to the prediction and update steps of the Kalman filter, so that the IMU error model is learned during integration. The results showed our deep Kalman filter outperformed the conventional Kalman filter and reached a higher level of accuracy. |
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