Random Delayed Kalman Fusion Based on Equivalent Conversion for the Multisensor System

摘要：

Aiming at the linear time invariant or the parameters preliminary given for the multisensor target tracking system, this paper develops a random delayed Kalman filter fusion estimator based on equivalent conversion for multisensor system. This algorithm effectively uses the characteristics of Kalman filter statistical parameters which can be calculated out of line, and the calculated form of measurements weighted summation under Linear Minimum Mean Square Error (LMMSE) estimate. Firstly, it transformed the multisensor system into the single sensor order form based on the idea of remolding. Secondly, it utilizes the method of one step prediction estimate and measurements prediction residual compensation to get the optimal weighting coefficient though calculating out of line and adjusting online. Then, it can realize the optimal update of the random delay measurements. At last, Algorithm analysis and computer simulation indicates that this algorithm is validity and advantage.

关键词： multisensor system measurements summation random delay prediction and compensation Kalman filter

作者: Chenlin Wen Tingliang Xu Quanbo Ge

作者单位: College of Automation, Hangzhou Dianzi University,Hangzhou 310018,China

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 3763-3768

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）