Fusion Kalman filtration with k-step delay sharing pattern
A fusion hierarchical state filtration with k−step delay sharing pattern for a multisensor system is considered. A global state estimate depends on local state estimates determined by local nodes using local information. Local available information consists of local measurements and k−step delay glo...
| Main Author: | |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Polish Academy of Sciences
2015-09-01
|
| Series: | Archives of Control Sciences |
| Subjects: | |
| Online Access: | http://www.degruyter.com/view/j/acsc.2015.25.issue-3/acsc-2015-0020/acsc-2015-0020.xml?format=INT |
| Summary: | A fusion hierarchical state filtration with k−step delay sharing pattern for a multisensor system is considered. A global state estimate depends on local state estimates determined by local nodes using local information. Local available information consists of local measurements and k−step delay global information - global estimate sent from a central node. Local estimates are transmitted to the central node to be fused. The synthesis of local and global filters is presented. It is shown that a fusion filtration with k−step delay sharing pattern is equivalent to the optimal centralized classical Kalman filtration when local measurements are transmitted to the center node and used to determine a global state estimate. It is proved that the k−step delay sharing pattern can reduce covariances of local state errors. |
|---|---|
| ISSN: | 2300-2611 |