带未知传感器干扰多速率系统的状态估计

State Estimation of Multirate Systems with Unknown Sensor Interference

对具有未知传感器干扰和观测丢失的多传感器多速率系统,其中各传感器以状态更新周期的整数倍异步均匀采样,用符合Bernoulli分布的一组随机变量去描述观测值丢失现象,对传感器干扰没有任何认知情况下,应用线性无偏最小方差准则,设计了每个单传感器子系统在状态更新点上的局部状态滤波器,所设计的滤波器不依赖于未知传感器干扰.

For multi-sensor multi-rate systems with unknown sensor interference and loss of observation,each sensor is asynchronously and uniformly sampled by an integer multiple of the state update period,and a set of random variables conforming to the Bernoulli distribution is used to describe the loss of the observation value,without any interference to the sensor.Under the cognitive condition,the linear state unbiased minimum variance criterion is applied,and the local state filter of each single sensor subsystem at the state update point is designed.The designed filter does not depend on unknown sensor interference.