Federated Cubature Kalman Filter for Multi-sensor Information Fusion

摘要：

Decentralized cubature Kalman filter (CKF) in federated configuration for multi-sensor information fusion is developed in this paper. Firstly, we use CKF as the sub-filter of the federated filter in order to deal with nonlinear model. Subsequently, master filter adopts reset mode to fuse local estimates of subfilters to generate a global estimate according to the scalar weighted rule. Finally, a simple experiment is carried out to evaluate the new algorithm. Compared with the federated extended Kalman filter (FEKF), the results show that the novel method can further improve the performance in terms of the root mean square error (RMSE).

关键词： information fusion nonlinear flter federated filter CKF

作者: Binglei Guan Xianfeng Tang Quanbo Ge

作者单位: Telecom College Ningbo University of Technology Ningbo, P.R. China Modern Educational Technology Center Zhejiang University Hangzhou, P.R. China Institute of Information and Control Hangzhou Dianzi University Hangzhou, P.R. China

会议类型: 国际会议

会议名称: 2011 International Conference on Communication and Electronics Information(ICCEI 2011)(2011年通信和电子信息国际会议)

会议地点: 海口

会议语种:英文

页码: 248-251

在线出版日期: 2011-02-22（万方平台首次上网日期，不代表论文的发表时间）