Please use this identifier to cite or link to this item:
Title: Applied sensor fusion : tuning parameters of CF and KF by means of evolution strategies.
Authors: Santos, Talysson Manoel de Oliveira
Barroso, Márcio Falcão Santos
Ricco, Rodrigo Augusto
Keywords: Inertial sensors
Kalman filter
Complementary filter
Optimization by evolution strategies
Issue Date: 2020
Citation: SANTOS, T. M. de. O.; BARROSO, M. F. S.; RICCO, R. A. Applied sensor fusion: tuning parameters of CF and KF by means of evolution strategies. IEEE Latin America Transactions, v. 18, n. 7, p. 1272-1279, jul. 2020. Disponível em: <>. Acesso em: 12 set. 2021.
Abstract: From the point of view of metrology, inertial sensors acting separately present undesirable performance in the measurement of angular position. In order to provide measurements with greater precision and accuracy, the measures of each of these sensors are typically fused by means of filters. The performance parameters of these filters are hard to tune and several works have been using exhaustive search algorithm or manual experimental tests to tuning these parameters. However, the exhaustive search algorithm usually requires a large computational effort and adjusting parameters manually does not guarantee that the estimated parameters are optimized. In this work, it has been proposed the tuning of the Complementary Filter (CF) and the Kalman Filter (KF) through the heuristic method Evolutionary Strategies. Experimental results have shown that our method is a useful tool that considerably reduces the time to find the tuning of the FC and the FK. In addition, the use of the tuned FC and FK improved significantly metrological characteristics of the system. The use of Bland and Altman’s statistical method show that the measurements of the angular position have a good agreement with the actual angular position of a servo motor.
ISSN: 1548-0992
Appears in Collections:DEELT - Artigos publicados em periódicos

Files in This Item:
File Description SizeFormat 
  Restricted Access
1,14 MBAdobe PDFView/Open

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.