Multi-rate stochastic H filtering for networked multi-sensor fusion

Yan Liang, Tongwen Chen, Quan Pan

科研成果: 期刊稿件文章同行评审

114 引用 (Scopus)

摘要

This paper presents a multi-rate filtering problem for a class of networked multi-sensor fusion systems with packet dropouts (PDs): the state evolves according to a linear discrete-time model with norm-bounded unknown inputs (UIs), and its underlying period is h; the p sensors are distributively deployed with different sampling periods n1 h, ..., np h; multi-rate sensor measurements, corrupted by UIs, are subject to stochastic PDs in the transmission to a fusion center for state estimation; the estimation is updated at the period m h. Different from the single-rate estimator design with PDs which are treated as stochastic parameters, a UI observer is proposed where PDs are represented as zero-mean white input noises of the linear time-variant estimation error system. The results on the existence of a stable observer are proposed. Due to insufficient design freedom for absolute error decoupling, we turn to designing an observer-based stochastic H filter. A numerical example of distributive multi-sensor target tracking is given to illustrate the proposed filter.

源语言英语
页(从-至)437-444
页数8
期刊Automatica
46
2
DOI
出版状态已出版 - 2月 2010

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