diff --git a/matlab/index.html b/matlab/index.html index 1bfd971..0079520 100644 --- a/matlab/index.html +++ b/matlab/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
- +When blending two sensors using complementary filters with unknown dynamics, phase lag may be introduced that renders the close-loop system unstable.
Then, three design methods for generating two complementary filters are proposed:
The idea is to combine sensors that works in different frequency range using complementary filters.
@@ -380,11 +389,11 @@ All the files (data and Matlab scripts) are accessible
-
-Let's consider the sensor fusion architecture shown on figure 1 where two sensors 1 and 2 are measuring the same quantity \(x\) with different noise characteristics determined by \(W_1\) and \(W_2\).
+Let's consider the sensor fusion architecture shown on figure 1 where two sensors 1 and 2 are measuring the same quantity \(x\) with different noise characteristics determined by \(W_1\) and \(W_2\).
@@ -392,18 +401,18 @@ Let's consider the sensor fusion architecture shown on figure
+
Figure 1: Fusion of two sensors
-We consider that the two sensor dynamics \(G_1\) and \(G_2\) are ideal (\(G_1 = G_2 = 1\)). We obtain the architecture of figure 2.
+We consider that the two sensor dynamics \(G_1\) and \(G_2\) are ideal (\(G_1 = G_2 = 1\)). We obtain the architecture of figure 2.
Figure 2: Fusion of two sensors with ideal dynamics
Let's define the noise characteristics of the two sensors by choosing \(W_1\) and \(W_2\):
@@ -459,7 +468,7 @@ W2 = (
+
Figure 3: Noise Characteristics of the two sensors (png, pdf)
-We use the generalized plant architecture shown on figure 4.
+We use the generalized plant architecture shown on figure 4.
Figure 4: \(\mathcal{H}_2\) Synthesis - Generalized plant used for the optimal generation of complementary filters
-We define the generalized plant \(P\) on matlab as shown on figure 4.
+We define the generalized plant \(P\) on matlab as shown on figure 4.
-The complementary filters obtained are shown on figure 5. The PSD of the 6.
-Finally, the RMS value of \(\hat{x}\) is shown on table 1.
+The complementary filters obtained are shown on figure 5. The PSD of the 6.
+Finally, the RMS value of \(\hat{x}\) is shown on table 1.
The optimal sensor fusion has permitted to reduced the RMS value of the estimation error by a factor 8 compare to when using only one sensor.
Figure 6: Power Spectral Density of the estimated \(\hat{x}\) using the two sensors alone and using the optimally fused signal (png, pdf)1.1 Architecture
+1.1 Architecture
1.2 Noise of the sensors
+1.2 Noise of the sensors
1.3 H-Two Synthesis
+1.3 H-Two Synthesis
P = [0 W2 1;
@@ -523,30 +532,30 @@ Finally, we define \(H_2 = 1 - H_1\).
1.4 Analysis
+1.4 Analysis