Title :
A measurements fusion filter for the multi-sensor system with correlated noises
Author :
Li Shengwei ; Feng Xiaoliang ; Lu Yazhou
Author_Institution :
Sch. of Comput. & Inf. Eng., Henan Univ., Kaifeng, China
Abstract :
Considering the sensor´s working environmental impact, the correlation of the system noise must be considered when fusing the measurements. The measurement fusion filtering method of a linear system with the correlation of measurement noises and the fusion time input noise and the correlation of measurement noises is researched in this paper. A centralized measurement fusion filtering method is present firstly, and then, a novel fusion measurement with low dimension is given based on the weighted least-square estimation theory. Utilizing a derived new measurement equation, a novel weighted measurement fusion filtering method is proposed in this paper. The final simulation illustrates the equivalent relation of the proposed measurement fusion filtering method and the optimal centralized measurement fusion method.
Keywords :
correlation methods; estimation theory; filtering theory; least squares approximations; linear systems; sensor fusion; centralized measurement fusion filtering method; fusion time input noise; linear system; measurement equation; measurement noise correlation; multisensor system; optimal centralized measurement fusion method; sensor working environmental impact; system noise correlation; weighted least square estimation theory; weighted measurement fusion filtering method; Correlation; Educational institutions; Kalman filters; Noise; Noise measurement; Weight measurement; measurement fusion filtering; multi-sensor system; the correlation of the system noise; weighted least-square theory;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6359232