@ARTICLE{Duda_Zdzisław_Fusion_2015,
 author={Duda, Zdzisław},
 number={No 3},
 journal={Archives of Control Sciences},
 howpublished={online},
 year={2015},
 publisher={Committee of Automatic Control and Robotics PAS},
 abstract={Abstract 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.},
 title={Fusion Kalman filtration with k-step delay sharing pattern},
 URL={http://journals.pan.pl/Content/84381/PDF/3.pdf},
 doi={10.1515/acsc-2015-0020},
}