Quantifying Safety of Laser-Based Navigation
Quantifying Safety of Laser-Based Navigation
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DOI：
10.1109/taes.2018.2850381
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发表时间：
2019-02-01
影响因子：
4.4
通讯作者：
Pervan, Boris
中科院分区：
文献类型：
--
作者：
Joerger, Mathieu;Pervan, Boris
本文利用特征提取（FE）和数据关联（DA）为基于激光的导航算法开发、模拟和测试了一种新的安全风险评估方法。首先，在有限元中，我们建立了特征之间分离的概率度量，以量化传感器区分地标的能力。然后，设计基于创新的 DA 流程来评估错误关联对完整性风险的影响，同时考虑所有潜在的测量排列。该算法在结构化环境中进行分析和测试。
In this paper, a new safety risk evaluation method is developed, simulated, and tested for laser-based navigation algorithms using feature extraction (FE) and data association (DA). First, at FE, we establish a probabilistic measure of separation between features to quantify the sensor's ability to distinguish landmarks. Then, an innovation-based DA process is designed to evaluate the impact on integrity risk of incorrect associations, while considering all potential measurement permutations. The algorithm is analyzed and tested in a structured environment.