Gain fusion algorithm for decentralised parallel Kalman filters

被引:15
作者
Paik, BS [1 ]
Oh, JH [1 ]
机构
[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Yusong Gu, Taejon 305701, South Korea
来源
IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS | 2000年 / 147卷 / 01期
关键词
Algorithms - Decentralized control - Real time systems - Sensor data fusion;
D O I
10.1049/ip-cta:20000141
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
A new gain fusion algorithm is proposed for application to decentralised sensor systems. The proposed algorithm gives computer-efficient suboptimal estimation results, such that it reconstructs the global estimate and covariance from local Kalman filter gains and estimates without significant loss of accuracy. Compared to the conventional algorithm, the smaller communication requirement and the removal of the calculation requirement of inverse covariances make the proposed algorithm more suitable for real time applications. A numerical example shows that the proposed algorithm provides a convincing suboptimal decentralised algorithm. In addition, the proposed gain fusion algorithm can be easily extended to accommodate local Kalman filters with reduced order.
引用
收藏
页码:97 / 103
页数:7
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