Multisensor Attitude Estimation: Fundamental Concepts and Applications
暫譯: 多感測器姿態估計：基本概念與應用

Fourati, Hassen, Belkhiat, Djamel Eddine Chouaib

Multisensor Attitude Estimation: Fundamental Concepts and Applications
  • 出版商: CRC
  • 出版日期: 2020-09-30
  • 售價: $4,870
  • 貴賓價: 9.5 折 $4,627
  • 語言: 英文
  • 頁數: 606
  • 裝訂: Quality Paper - also called trade paper
  • ISBN: 0367655810
  • ISBN-13: 9780367655815
  • 相關分類: 感測器 Sensor

    • 海外代購書籍(需單獨結帳)

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商品描述

There has been an increasing interest in multi-disciplinary research on multisensor attitude estimation technology driven by its versatility and diverse areas of application, such as sensor networks, robotics, navigation, video, biomedicine, etc. Attitude estimation consists of the determination of rigid bodies' orientation in 3D space. This research area is a multilevel, multifaceted process handling the automatic association, correlation, estimation, and combination of data and information from several sources. Data fusion for attitude estimation is motivated by several issues and problems, such as data imperfection, data multi-modality, data dimensionality, processing framework, etc. While many of these problems have been identified and heavily investigated, no single data fusion algorithm is capable of addressing all the aforementioned challenges. The variety of methods in the literature focus on a subset of these issues to solve, which would be determined based on the application in hand. Historically, the problem of attitude estimation has been introduced by Grace Wahba in 1965 within the estimate of satellite attitude and aerospace applications.



This book intends to provide the reader with both a generic and comprehensive view of contemporary data fusion methodologies for attitude estimation, as well as the most recent researches and novel advances on multisensor attitude estimation task. It explores the design of algorithms and architectures, benefits, and challenging aspects, as well as a broad array of disciplines, including: navigation, robotics, biomedicine, motion analysis, etc. A number of issues that make data fusion for attitude estimation a challenging task, and which will be discussed through the different chapters of the book, are related to: 1) The nature of sensors and information sources (accelerometer, gyroscope, magnetometer, GPS, inclinometer, etc.); 2) The computational ability at the sensors; 3) The theoretical developments and convergence proofs; 4) The system architecture, computational resources, fusion level.

商品描述(中文翻譯)

隨著多傳感器姿態估計技術的多樣性及其在傳感器網絡、機器人技術、導航、視頻、生物醫學等多個應用領域的廣泛應用，對於多學科研究的興趣日益增加。姿態估計是指在三維空間中確定剛體的方向。這一研究領域是一個多層次、多面向的過程，處理來自多個來源的數據和信息的自動關聯、相關性、估計和組合。姿態估計的數據融合受到多種問題的驅動，例如數據不完美、數據多模態、數據維度、處理框架等。儘管許多這些問題已被識別並深入研究，但目前尚無單一的數據融合算法能夠解決所有上述挑戰。文獻中的各種方法專注於解決這些問題的子集，具體取決於手頭的應用。歷史上，姿態估計問題是由Grace Wahba於1965年首次提出，主要針對衛星姿態和航空航天應用。

本書旨在為讀者提供當代姿態估計的數據融合方法的通用和全面的視角，以及在多傳感器姿態估計任務上的最新研究和新進展。它探討了算法和架構的設計、優勢和挑戰方面，以及包括導航、機器人技術、生物醫學、運動分析等在內的廣泛學科。本書的不同章節將討論使姿態估計的數據融合成為一項挑戰性任務的多個問題，這些問題與以下幾點有關：1) 傳感器和信息來源的性質（加速度計、陀螺儀、磁力計、GPS、傾斜計等）；2) 傳感器的計算能力；3) 理論發展和收斂證明；4) 系統架構、計算資源、融合層級。

作者簡介

Hassen Fourati, PhD, is currently an associate professor of the electrical engineering and computer science at the University of Grenoble Alpes, Grenoble, France, and a member of the Networked Controlled Systems Team (NeCS), affiliated to the Automatic Control Department of the GIPSA-Lab. He earned his Bachelor of Engineering degree in Electrical Engineering at the National Engineering School of Sfax, Tunisia in 2006; his Master's degree in Automated Systems and Control at the University of Claude Bernard, Lyon, France in 2007; and his PhD degree in Automatic Control at the University of Strasbourg, France in 2010. His research interests include nonlinear filtering and estimation and multisensor fusion with applications in navigation, robotics, and traffic management. Dr. Fourati has published several research papers in scientific journals, international conferences, and book chapters. He can be reached at hassen.fourati@gipsa-lab.fr.



Djamel Eddine Chouaib Belkhiat, PhD, is an associate professor in the department of physics at the Ferhat Abbas University, Setif 1, Algeria where he is also a member of Intelligent Systems Laboratory. He received the Bachelor of Engineering degree in Electrical Engineering from the Ferhat Abbas University, Setif 1, Algeria in 2007, the Master degree in Automatic Control from the University of Poitiers, France in 2008, and the Ph.D. degree in Automatic Control from the University of Reims Champagne Ardenne, France in 2011. His research interests lie in the area of monitoring and diagnosis of Hybrid Systems. Dr. Belkhiat has published several research papers in scientific journals, international conferences and book chapters. He can be reached at djamel.belkhiat@yahoo.fr.

作者簡介(中文翻譯)

哈森·福拉提 (Hassen Fourati), 博士，目前是法國格勒諾布爾阿爾卑斯大學 (University of Grenoble Alpes) 電機工程與計算機科學系的副教授，並且是隸屬於GIPSA-Lab自動控制系的網絡控制系統團隊 (Networked Controlled Systems Team, NeCS) 的成員。他於2006年在突尼西亞斯法克斯國立工程學院 (National Engineering School of Sfax) 獲得電機工程學士學位；2007年在法國里昂的克勞德·伯納大學 (University of Claude Bernard) 獲得自動化系統與控制碩士學位；2010年在法國斯特拉斯堡大學 (University of Strasbourg) 獲得自動控制博士學位。他的研究興趣包括非線性過濾與估計以及多傳感器融合，應用於導航、機器人技術和交通管理。福拉提博士已在科學期刊、國際會議和書籍章節中發表了多篇研究論文。可以通過電子郵件聯繫他：hassen.fourati@gipsa-lab.fr。

賈梅爾·艾丁·喬阿伊布·貝爾基亞特 (Djamel Eddine Chouaib Belkhiat), 博士，是阿爾及利亞塞提夫1號的費哈特·阿巴斯大學 (Ferhat Abbas University, Setif 1) 物理系的副教授，同時也是智能系統實驗室 (Intelligent Systems Laboratory) 的成員。他於2007年在阿爾及利亞塞提夫1號的費哈特·阿巴斯大學獲得電機工程學士學位；2008年在法國普瓦捷大學 (University of Poitiers) 獲得自動控制碩士學位；2011年在法國香檳阿登大學 (University of Reims Champagne Ardenne) 獲得自動控制博士學位。他的研究興趣集中在混合系統的監控與診斷領域。貝爾基亞特博士已在科學期刊、國際會議和書籍章節中發表了多篇研究論文。可以通過電子郵件聯繫他：djamel.belkhiat@yahoo.fr。

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