A simulation study of sensor data fusion using UKF for bucket wheel reclaimer localization

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dc.contributor.authorZhao, S.
dc.contributor.authorLu, T.
dc.contributor.authorKoch, B.
dc.contributor.authorHurdsman, A.
dc.contributor.conferenceIEEE International Conference on Automation Science and Engineering (8th : 2012 : Seoul, Korea)
dc.date.issued2012
dc.description.abstractBucket 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.
dc.description.statementofresponsibilityShi Zhao, Tien-Fu Lu, Ben Koch and Alan Hurdsman
dc.identifier.citationProceedings of the 8th IEEE International Conference on Automation Science and Engineering, held in Seoul, Korea, 20-24 August, 2012: pp.1192-1197
dc.identifier.doi10.1109/CoASE.2012.6386509
dc.identifier.isbn9781467304290
dc.identifier.issn2161-8070
dc.identifier.issn2161-8089
dc.identifier.orcidZhao, S. [0000-0002-9967-9986]
dc.identifier.orcidLu, T. [0000-0001-9757-9028]
dc.identifier.urihttp://hdl.handle.net/2440/76130
dc.language.isoen
dc.publisherIEEE
dc.publisher.placeUSA
dc.rights© Copyright 2012 IEEE - All rights reserved.
dc.source.urihttps://doi.org/10.1109/coase.2012.6386509
dc.subjectAustralia
dc.subjectglobal positioning system
dc.subjectmarine vehicles
dc.subjectmeasurement uncertainty
dc.subjectnoise
dc.subjectresistance
dc.subjectsilicon compounds
dc.titleA simulation study of sensor data fusion using UKF for bucket wheel reclaimer localization
dc.typeConference paper
pubs.publication-statusPublished

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