A simulation study of sensor data fusion using UKF for bucket wheel reclaimer localization
Date
2012
Authors
Zhao, S.
Lu, T.
Koch, B.
Hurdsman, A.
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Conference paper
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Proceedings of the 8th IEEE International Conference on Automation Science and Engineering, held in Seoul, Korea, 20-24 August, 2012: pp.1192-1197
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Shi Zhao, Tien-Fu Lu, Ben Koch and Alan Hurdsman
Conference Name
IEEE International Conference on Automation Science and Engineering (8th : 2012 : Seoul, Korea)
Abstract
Bucket Wheel Reclaimers (BWRs) normally travel on a rail among stockpiles to perform stacking and reclaiming operations. Currently, the position accuracy of the bucket wheel at the end of boom measured by the onboard encoder system is limited to 30cm. To maintain such accuracy, calibrated points have to be placed along the rail, which is inefficient and costly. This paper proposes a simulation study using Unscented Kalman Filter (UKF) algorithm to fuse DGPS and encoder data for BWR localization. The results obtained indicate that the errors in positional accuracy are better than 15cm and UKF is an objective technology that can be applied to localize such large scaled machine.
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© Copyright 2012 IEEE - All rights reserved.