Covariance Intersection Fusion Kalman Estimator for Multi-Sensor System with Measurements Delays

Peng Zhang; Wen Juan Qi; Zi Li Deng

doi:10.4028/www.scientific.net/AMM.475-476.460

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 475-476Covariance Intersection Fusion Kalman Estimator...

Covariance Intersection Fusion Kalman Estimator for Multi-Sensor System with Measurements Delays

Abstract:

To handle the state estimation fusion problem between local estimation errors for the system with unknown cross-covariances and to avoid a large computation complexity of cross-covariances, for a multi-sensor linear discrete time-invariant stochastic system with time-delayed measurements, by the measurement transformation method, an equivalent system without measurement delays is obtained, and then using the covariance intersection (CI) fusion method, the covariance intersection fusion steady-state Kalman estimator is presented. It is proved that its accuracy is higher than that of each local estimator, and is lower than that of optimal Kalman fuser weighted by matrices with known cross-covariances. A Monte-Carlo simulation example shows the above accuracy relations, hence it has good performances.

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Periodical:

Applied Mechanics and Materials (Volumes 475-476)

Pages:

460-465

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.475-476.460

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Online since:

December 2013

Authors:

Peng Zhang, Wen Juan Qi, Zi Li Deng*

Keywords:

Consistency, Covariance Intersection Fusion, Information Fusion Kalman Estimator, Measurement Delays

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* - Corresponding Author

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