type-2 fuzzy extended kalman filter for dynamic security monitoring based on novel sensor fusion二型模糊扩展卡尔曼滤波器进行动态安全监控基于新颖的传感器融合.pdf

Journal of Intelligent Learning Systems and Applications, 2012, 4, 159-168 1 / 10.4236/jilsa.2012.43016 Published Online August 2012 (http://www.SciRP.org/journal/jilsa) Type-2 Fuzzy Extended Kalman Filter for Dynamic Security Monitoring Based on Novel Sensor Fusion 1 1 2 Tarek Dakhlallah , Mohammed Zohdy , Omar Salim 1School of Engineering and Computer Science, Oakland University, Rochester, USA; 2Electrical Engineering Department, Benha University, Benha, Egypt. Email: Tkdakhl2@, zohdyma@, omar.salem@.eg Received October 19th, 2011; revised March 16th, 2012; accepted March 23rd, 2012 ABSTRACT In this paper, we have focused on several relevant sensors [Laser (for speed measurements), Sonar (for space scanning) and RF (for access rights)] to cooperate in monitoring the security status of multiple dynamic agent in surveillance area. Such coordination is achieved by employing novel concepts of sensors similarity and complementarity. Furthermore, this system is aided with Extended Kalman Filter (EKF) in order to estimate the agent’s non-linear movement. Finally, transforms system state to be able to make a security suspiciousness decision by using type-2 fuzzy logic system to han- dle uncertainty. It is shown that the system performance can exhibit promising improvements for this dynamic security monitoring application. Keywords: Sensor Similarity; Sensor Complementarity; Type-2 Fuzzy 1. Introduction automated situational security system [4]. In addition to the issue of automated situational awareness, privacy pro- Sensors connect the gap between environment under ob- tection is another important issue in monitor