Tytuł artykułu

Fusion Kalman filtration with k-step delay sharing pattern

Tytuł czasopisma

Archives of Control Sciences




No 3

Autorzy publikacji

Wydział PAN

Nauki Techniczne


<jats:title>Abstract</jats:title> <jats:p> 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.</jats:p>


Committee of Automatic Control and Robotics PAS


2015[2015.01.01 AD - 2015.12.31 AD]


ISSN 1230-2384


SIJS (2008), An overview of non - centralized Kalman filters In of the th Conf on Control Applications San Antonio, Proc IEEE Int USA, 739. ; CHEN (2003), BAR SHALOM Performance limits on track to track fusion versus centralized estimation on Aerospace and Electronic Systems, IEEE Trans, 386. ; KHALEGHI (2013), Multisensor data fusion of the state - of - the art, review Information Fusion, 14, 28, ; HASHMIPOUR (1988), Decentralized Structures for Parallel Kalman Filtering on Automatic Control, IEEE Trans, 88. ; ZHU (2001), The optimality for the distributed Kalman filtering fusion with feedback, Automatica, 37, 1489, ; CHANG (2004), Performance evaluation for MAP state estimate fusion on Aerospace and Electronic Systems, IEEE Trans, 706. ; CHANG (1997), BAR SHALOM On optimal track to track fusion on Aerospace and Electronic Systems, IEEE Trans, 1271. ; GRIM (1992), Communication in Decentralized Data - Fusion Systems In Chicago, Proc American Control Conference, 3299.