多传感器一步延迟OOSMs序贯融合滤波

A Novel Sequential Fusion Algorithm for the System with Multiple One-step-delay OOSMs

该文提出了一种序贯式多传感器一步延迟无序量测的融合估计算法。针对现有系统中存在的延迟量测问题,在单传感器一步延迟无序量测最优更新A1算法的基础上,引入序贯递推的思想,在线性最小方差准则下,提出了一种序贯式的多传感器一步延迟无序量测最优融合算法,提高了多OOSMs融合估计的实时性。仿真验证了该文算法的有效性和最优性。

In this paper,a novel sequential fusion estimation algorithm for the system with multiple one step delay out-of-sequence measurements is proposed.Aiming at the problem of fusion filtering with out-of-sequence measurements,the idea of sequential recursion is taken into consideration on the basis of the optimal algorithm for the system with single out-of-sequence measurement.Then,in the sense of linear minimum mean square error（LMMSE）,this paper presents an optimal sequential fusion algorithm for the system with multiple one step delay out-of-sequence measurements through directly updating.The novel method improves the real-time characteristic of the multi-OOSMs fusion estimation.The final simulation illustrates the effectiveness and optimality of the proposed method.