Fusion Kalman filtration for distributed multisensor systems

• Autorzy: Duda Z.

Identyfikatory

DOI

10.2478/acsc-2014-0004

• Języki publikacji: EN

Abstrakty

EN

In the paper, fusion state hierarchical filtration for a multisensor system is considered. An optimal global Kalman filter is realized by a central node in the information form. The state estimate depends on local information that should be sent by local nodes. Two information structures are considered in the paper. In the first case local estimates are based on the local measurement information. It leads to distributed Kalman filter fusion that is well known in a literature. In the second case local node has additionally global information of the system with one step delay. A synthesis of local filters is presented. An advantage of this structure is discussed.

Słowa kluczowe

EN

fusion Kalman filtration; multisensor system; one step delay information

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2014
• Tom: Vol. 24, no. 1
• Strony: 53--65
• Opis fizyczny: Bibliogr. 13 poz., wzory

Twórcy

autor

Duda Z.

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

Bibliografia

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Uwagi

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