The modeling and estimation of asynchronous multirate multisensor dynamic systems

L. P. Yan, B. S. Liu, D. H. Zhou*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

96 Citations (Scopus)

Abstract

An asynchronous data fusion problem based on a kind of multirate multisensor dynamic system is studied. The system is observed by multirate sensors independently, with the state model known at the finest scale. Under the assumption that the sampling rates of sensors decrease successively by any positive integers, the discrete dynamic system models are established based on each single sensor and an asynchronous multirate multisensor state fusion estimation algorithm is presented. Theoretically, the estimate is proven to be unbiased and the optimal in the sense of linear minimum covariance, the fused estimate is better than the Kalman filtering results based on each single sensor, and the accuracy of the fused estimate will decrease if any of the sensors' information is neglected. The feasibility and effectiveness of the algorithm are shown through simulations.

Original languageEnglish
Pages (from-to)63-71
Number of pages9
JournalAerospace Science and Technology
Volume10
Issue number1
DOIs
Publication statusPublished - Jan 2006
Externally publishedYes

Keywords

  • Asynchronous
  • Data fusion
  • Kalman filter
  • Multirate
  • Multisensor

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