Multisensor Out of Sequence Data Fusion for Estimating the State of Discrete Control Systems

被引:20
作者
Besada-Portas, Eva [2 ]
Lopez-Orozco, Jose A. [1 ]
Besada, Juan A. [3 ]
de la Cruz, Jesus M. [1 ]
机构
[1] Univ Complutense Madrid, Fac CC Fis, Dept Computadores & Automat, E-28040 Madrid, Spain
[2] Univ New Mexico, Dept Comp Sci, Albuquerque, NM 87131 USA
[3] Univ Politecn Madrid, Dept Senales Sistemas & Radiocomunicac, ETSI Telecomunicac, E-28040 Madrid, Spain
关键词
Discrete control systems; estimation; out-of-sequence (OOS) data; UPDATE;
D O I
10.1109/TAC.2009.2020667
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The fusion center of a complex control system estimates its state with the information provided by different sensors. Physically distributed sensors, communication networks, pre-processing algorithms, multitasking, etc, introduce non-systematic delays in the arrival of information to the fusion center, making the information available Out-Of-Sequence (OOS). For real-time control systems, the state has to be efficiently estimated with all the information received so far. So, several solutions of the OOS problem for dynamic Multiple-Input Multiple-Output (MIMO) discrete control systems traditionally solved by the Kalman Filter (KF) have been proposed recently. This paper presents two new streamlined algorithms for the linear and non-linear case. IFAsyn, the linear algorithm, is equivalent to other optimal solutions but more general, efficient and easy to implement. EIFAsyn, the nonlinear one, is a new solution of the OOS problem in the Extended KF (EKF) framework.
引用
收藏
页码:1728 / 1732
页数:5
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