A Unified Out-of-Sequence Measurements Fusion Algorithm for WSN

Influenced by multi-hop transmission module of wireless sensor networks (WSN) and high sensor\´s data rate etc., the late measurement for the same target may arrive in the fusion center ahead of schedule than the early measurement in the system with ordered sampling, namely "out-of-sequence" measurements (OOSM) phenomenon. Accordingly, the traditional filtering methods based on ordered measurement canpsilat be used. Aiming at the problem that most of current OOSM update algorithms only adapt to the OOSM system where the fusion center only gets one OOSM in the fusion period, a unified OOSM fusion method for the single sensor system with arbitrarily random mixed OOSMs system is proposed by use of the pseudo-measurement technology and Kalman filtering with correlated noise in this paper. Synchronously, the centralized and recursive forms of this proposed OOSM method are presented. The theoretic analysis and computer simulation both show the validity and superiority of the proposed OOSM method.