摘要
In the estimation and identification of nonlinear system state,aiming at the adverse effect of observation missing randomly caused by detection probability of used sensor which is less than 1,a novel federal extended Kalman filter( FEKF) based on reconstructed observation in incomplete observations( ROIO) is proposed in this paper. On the basis of multi-sensor observation sets,the observation is exchanged at different times to construct a new observation set. Based on each observation set,an extended Kalman filter algorithm is used to estimate the state of the target,and then the federal filtering algorithm is used to solve the state estimation based on the multi-sensor observation data. The effect of the sensor probing probability on the filtering result and the effect of the number of sensors on the filtering result are obtained by the simulation experiment,respectively. The simulation results demonstrate effectiveness of the proposed algorithm.
In the estimation and identification of nonlinear system state,aiming at the adverse effect of observation missing randomly caused by detection probability of used sensor which is less than 1,a novel federal extended Kalman filter（ FEKF） based on reconstructed observation in incomplete observations（ ROIO） is proposed in this paper. On the basis of multi-sensor observation sets,the observation is exchanged at different times to construct a new observation set. Based on each observation set,an extended Kalman filter algorithm is used to estimate the state of the target,and then the federal filtering algorithm is used to solve the state estimation based on the multi-sensor observation data. The effect of the sensor probing probability on the filtering result and the effect of the number of sensors on the filtering result are obtained by the simulation experiment,respectively. The simulation results demonstrate effectiveness of the proposed algorithm.
基金
Supported by the National Nature Science Foundation of China(No.61771006)
the Open Foundation of Key Laboratory of Spectral Imaging Technology of the Chinese Academy of Sciences(No.LSIT201711D)
the Outstanding Young Cultivation Foundation of Henan university(No.0000A40366)
the Basic and Advanced Technology Foundation of Henan Province(No.152300410195)
关键词
KALMAN
过滤器
不完全
联邦
多传感器
过滤算法
模拟实验
非线性
multi-sensor observation
incomplete observations （IO）
federal extended Kalman filter （FEKF）
reconstructed observation
