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State estimation in a decentralized discrete time LQG control for a multisensor system

100%

Duda Z.

tom Vol. 27, no. 1

29--39

In the paper a state filtration in a decentralized discrete time Linear Quadratic Gaussian problem formulated for a multisensor system is considered. Local optimal control laws depend on global state estimates and are calculated by each node. In a classical centralized information pattern the global state estimators use measurements data from all nodes. In a decentralized system the global state estimates are computed at each node using local state estimates based on local measurements and values of previous controls, from other nodes. In the paper, contrary to this, the controls are not transmitted between nodes. It leads to nonconventional filtration because the controls from other nodes are treated as random variables for each node. The cost for the additional reduced transmission is an increased filter computation at each node.

Fusion Kalman filtration with k-step delay sharing pattern

100%

Duda Z.

tom Vol. 25, no. 3

307--318

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.

Bezzałogowe pojazdy do wykrywania min i IED

75%

Świderski W.

2013

tom R. 14, nr 3

1159-1169

W artykule omówiona została problematyka wykrywania min i IED z wykorzystaniem bezzałogowych pojazdów. Przedstawiono zarówno światowe rozwiązania jak i prace prowadzone w Wojskowym Instytucie Technicznym Uzbrojenia w ramach projektu badawczo-rozwojowego dotyczącego wykrywania min i IED za pomocą systemu wieloczujnikowego.

Paper discussed the problem of detection of mines and IED’s by using unmanned vehicles. Some world solutions and results of work carried out in the Military Institute of Armamnet Technology under the framework of a research-development project relating to detection of mines and IED’s by using multi-sensor system are presented.