Title :
Sequential fusion and state estimation for asynchronous multirate multisensor dynamic systems
Author :
Lu Jiang ; Liping Yan ; Bo Xiao ; Yuanqing Xia ; Mengyin Fu
Author_Institution :
Key Lab. of Intell. Control & Decision of Complex Syst., Beijing Inst. of Technol., Beijing, China
Abstract :
A sequential fusion and state estimation algorithm for an asynchronous multirate multisensor dynamic system is presented in this paper. The dynamic system at the finest scale is known. There are multiple sensors observing a single target independently with different sampling rates, and the observations are obtained asynchronously. The present algorithm is shown to be more effective and efficient than the existed methods. Simulations on a radar tracking system with three sensors are done and show the effectiveness of the present algorithm.
Keywords :
sensor fusion; state estimation; asynchronous multirate multisensor dynamic system; asynchronous observations; radar tracking system; sampling rates; sensors; sequential fusion algorithm; state estimation algorithm; Estimation error; Kalman filters; Sensors; Solid modeling; State estimation; Time measurement; Kalman filter; asynchronous; multirate multisensor; sequential fusion; state estimation;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896637
