A Novel Data Fusion Algorithm Based on Wavelet Packet Analysis

Author

Hong-Lian, Li ; Wei-Li, Zhang ; Hui-Jian, Yuan ; Jun, Zhang ; Le-Tao, Zhou ; Qiang, Jiang

Author_Institution

Dept. of Electr. Power Eng., Chongqing Electr. Power Coll., Chongqing, China

Volume

2

fYear

2009

fDate

6-7 June 2009

Firstpage

311

Lastpage

314

Abstract

It is difficult to establish a precise mathematical model in extended Kalman filter (EKF) data fusion algorithm for GPS/DR integrated vehicle navigation system, a novel data fusion algorithm is put forward, which based on wavelet packet analysis. Firstly, the algorithm chooses best wavelet packet group for GPS, odometer and gyroscope signals with least cost principle, and does dynamic pre-filtering for the signals by high frequency coefficients de-noising threshold method based on Stein´s unbiased risk estimation (SURE). Finally, the algorithm provides precise positioning information for the GPS/DR integrated vehicle navigation system through doing EKF data fusion. The simulation results show that the algorithm is better than EKF data fusion algorithm, and improve data fusion effect for the GPS/DR integrated vehicle navigation system.

Keywords

Global Positioning System; Kalman filters; matrix algebra; nonlinear filters; sensor fusion; traffic engineering computing; vehicles; wavelet transforms; GPS-DR integrated vehicle navigation system; Global Positioning System; Stein unbiased risk estimation; data fusion algorithm; dead reckoning system; dynamic prefiltering; extended Kalman filter; gyroscope signal; mathematical model; odometer signal; wavelet packet analysis; Algorithm design and analysis; Costs; Frequency estimation; Global Positioning System; Gyroscopes; Mathematical model; Navigation; Vehicles; Wavelet analysis; Wavelet packets; Data Fusion; Extended Kalman Filter; GPS/DR integrated Vehicle Navigation System; Wavelet Packet Analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence and Natural Computing, 2009. CINC '09. International Conference on

Conference_Location

Wuhan

Print_ISBN

978-0-7695-3645-3

Type

conf

DOI

10.1109/CINC.2009.215

Filename

5230964