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...
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| Format: | Article |
| Language: | English |
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Polish Academy of Sciences
2015-09-01
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| Series: | Archives of Control Sciences |
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| Online Access: | http://www.degruyter.com/view/j/acsc.2015.25.issue-3/acsc-2015-0020/acsc-2015-0020.xml?format=INT |
| _version_ | 1819115625587408896 |
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| author | Duda Zdzisław |
| author_facet | Duda Zdzisław |
| author_sort | Duda Zdzisław |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-22T05:04:10Z |
| format | Article |
| id | doaj.art-16dcadcc74a34ca39183cecc8fc02811 |
| institution | Directory Open Access Journal |
| issn | 2300-2611 |
| language | English |
| last_indexed | 2024-12-22T05:04:10Z |
| publishDate | 2015-09-01 |
| publisher | Polish Academy of Sciences |
| record_format | Article |
| series | Archives of Control Sciences |
| spelling | doaj.art-16dcadcc74a34ca39183cecc8fc028112022-12-21T18:38:10ZengPolish Academy of SciencesArchives of Control Sciences2300-26112015-09-0125330731810.1515/acsc-2015-0020acsc-2015-0020Fusion Kalman filtration with k-step delay sharing patternDuda Zdzisław0Institute of Automatic Control, Silesian Technical University, ul. Akademicka 16, 44-101 Gliwice, PolandA 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.http://www.degruyter.com/view/j/acsc.2015.25.issue-3/acsc-2015-0020/acsc-2015-0020.xml?format=INTfusion Kalman filtrationmultisensor systemk− step delay sharing pattern. |
| spellingShingle | Duda Zdzisław Fusion Kalman filtration with k-step delay sharing pattern Archives of Control Sciences fusion Kalman filtration multisensor system k− step delay sharing pattern. |
| title | Fusion Kalman filtration with k-step delay sharing pattern |
| title_full | Fusion Kalman filtration with k-step delay sharing pattern |
| title_fullStr | Fusion Kalman filtration with k-step delay sharing pattern |
| title_full_unstemmed | Fusion Kalman filtration with k-step delay sharing pattern |
| title_short | Fusion Kalman filtration with k-step delay sharing pattern |
| title_sort | fusion kalman filtration with k step delay sharing pattern |
| topic | fusion Kalman filtration multisensor system k− step delay sharing pattern. |
| url | http://www.degruyter.com/view/j/acsc.2015.25.issue-3/acsc-2015-0020/acsc-2015-0020.xml?format=INT |
| work_keys_str_mv | AT dudazdzisław fusionkalmanfiltrationwithkstepdelaysharingpattern |