CDS 110b: Sensor Fusion: Difference between revisions
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{{cds110b- | {{cds110b-wi08}} | ||
In this | In this set of lectures we discuss discrete-time random processes and the discrete-time Kalman filter. We use the discrete-time formulation to consider problems in (multi-rate) sensor fusion and sensor fusion in the presence of information/packet loss. We also introduce the information filter, which provides a particularly simple method for sensor fusion. | ||
* {{cds110b-wi08 pdfs placeholder|hw7.pdf|HW #7}} (due 5 Mar 08) | |||
* {{cds110b- | |||
== References and Further Reading == | == References and Further Reading == | ||
* {{AM06|Output Feedback}}. Section 7.4 covers the discrete time Kalman filter. | * {{AM06|Output Feedback}}. Section 7.4 covers the discrete-time Kalman filter. | ||
* | * R. M. Murray, ''Optimization-Based Control''. Preprint, 2008: {{obc08 pdfs|stochastic_25Feb08.pdf|Chapter 5 - Sensor Fusion}} | ||
* {{cds110b-wi07 pdfs|gro02_infofilter.pdf|Appendix}} from [http://www.grasp.upenn.edu/~bpg/ Ben Grochalsky's] thesis on information filter. | * {{cds110b-wi07 pdfs|gro02_infofilter.pdf|Appendix}} from [http://www.grasp.upenn.edu/~bpg/ Ben Grochalsky's] thesis on information filter. | ||
* [[NCS:_Kalman_Filtering|CDS 270-2 (Networked Control Systems) page on Kalman Filtering]] - provides additional notes and lecture materials (including some nice references) | * [[NCS:_Kalman_Filtering|CDS 270-2 (Networked Control Systems) page on Kalman Filtering]] - provides additional notes and lecture materials (including some nice references) | ||
== Frequently Asked Questions == | == Frequently Asked Questions == | ||
Revision as of 00:32, 18 February 2008
| CDS 110b | Schedule | Project | Course Text |
In this set of lectures we discuss discrete-time random processes and the discrete-time Kalman filter. We use the discrete-time formulation to consider problems in (multi-rate) sensor fusion and sensor fusion in the presence of information/packet loss. We also introduce the information filter, which provides a particularly simple method for sensor fusion.
- HW #7 (due 5 Mar 08)
References and Further Reading
- K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Preprint, 2006. Output Feedback.. Section 7.4 covers the discrete-time Kalman filter.
- R. M. Murray, Optimization-Based Control. Preprint, 2008: Chapter 5 - Sensor Fusion
- Appendix from Ben Grochalsky's thesis on information filter.
- CDS 270-2 (Networked Control Systems) page on Kalman Filtering - provides additional notes and lecture materials (including some nice references)
