Fusion Kalman filtration with k-step delay sharing pattern

• Autorzy: Duda Z.

Identyfikatory

DOI

10.1515/acsc-2015-0020

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

fusion Kalman filtration; multisensor system; k− step delay sharing pattern

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2015
• Tom: Vol. 25, no. 3
• Strony: 307--318
• Opis fizyczny: Bibliogr. 11 poz., wzory

Twórcy

autor

Duda Z.

• Institute of Automatic Control, Silesian Technical University, ul. Akademicka 16, 44-101 Gliwice, Poland

Bibliografia

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• [8] B. Khaleghi, A. Khamis, F. O. Karray and S. N. Razavi: Multisensor data fusion: A review of the state-of-the art. Information Fusion, 14 (2013), 28-44.
• [9] J. S. Meditch: Stochastic optimal linear estimation and control. Mc Graw–Hill, Inc., US 1969.
• [10] J. Sijs M. Lazar, P. Bosch and Z. Papp: An overview of non-centralized Kalman filters. In: Proc. of the 17th IEEE Int. Conf. on Control Applications, San Antonio, USA, (2008), 739-744.
• [11] Y. Zhu, Z. You, J. Zhao, K. Zhang and X. R. Li: The optimality for the distributed Kalman filtering fusion with feedback. Automatica, 37 (2001), 1489- 1493.

Uwagi

EN

This work has been supported with a grant from the Polish Ministry of Science and High Education.