In centralized multisensor tracking systems, there are out-of-sequence measurements （OOSMs） frequently arising due to different time delays in communication links and varying pre-processing times at the sensor. Such...In centralized multisensor tracking systems, there are out-of-sequence measurements （OOSMs） frequently arising due to different time delays in communication links and varying pre-processing times at the sensor. Such OOSM arrival can induce the ＂negative-time measurement update＂ problem, which is quite common in real mulUsensor tracking systems. The A1 optimal update algorithm with OOSM is presented by Bar-Shalom for one-step case. However, this paper proves that the optimality of A1 algorithm is lost in direct discrete-time model （DDM） of the process noise, it holds true only in discreUzed continuous-time model （DCM）. One better OOSM filtering algorithm for DDM case is presented. Also, another new optimal OOSM filtering algorithm, which is independent of the discrete time model of the process noise, is presented here. The performance of the two new algorithms is compared with that of A1 algorithm by Monte Carlo simulations. The effectiveness and correctness of the two proposed algorithms are validated by analysis and simulation results.展开更多
There are many proposed optimal or suboptimal al- gorithms to update out-of-sequence measurement（s） （OoSM（s）） for linear-Gaussian systems, but few algorithms are dedicated to track a maneuvering target in clutte...There are many proposed optimal or suboptimal al- gorithms to update out-of-sequence measurement（s） （OoSM（s）） for linear-Gaussian systems, but few algorithms are dedicated to track a maneuvering target in clutter by using OoSMs. In order to address the nonlinear OoSMs obtained by the airborne radar located on a moving platform from a maneuvering target in clut- ter, an interacting multiple model probabilistic data association （IMMPDA） algorithm with the OoSM is developed. To be practical, the algorithm is based on the Earth-centered Earth-fixed （ECEF） coordinate system where it considers the effect of the platform＇s attitude and the curvature of the Earth. The proposed method is validated through the Monte Carlo test compared with the perfor- mance of the standard IMMPDA algorithm ignoring the OoSM, and the conclusions show that using the OoSM can improve the track- ing performance, and the shorter the lag step is, the greater degree the performance is improved, but when the lag step is large, the performance is not improved any more by using the OoSM, which can provide some references for engineering application.展开更多
The transmission modes of multi-hop and broadcasting for Wireless Sensor Networks(WSN)often make random and unknown transmission delays appear,so multisensor data fusion based ondelayed systems attracts intense attent...The transmission modes of multi-hop and broadcasting for Wireless Sensor Networks(WSN)often make random and unknown transmission delays appear,so multisensor data fusion based ondelayed systems attracts intense attention from lots of researchers.The existing achievements for thedelayed fusion all focus on Out-Of-Sequence Measurements(OOSM)problem which has many dis-advantages such as high communication cost,low computational efficiency,huge computational com-plexity and storage requirement,bad real-time performance and so on.In order to overcome theseproblems occurred in the OOSM fusion,the Out-Of-Sequence Estimates(OOSE)are considered tosolve the delayed fusion for the first time.Different from OOSM which belongs to the centralized fusion,the OOSE scheme transmits local estimates from local sensors to the central processor and is thus thedistributed fusion;thereby,the OOSE fusion can not only avoid the problems suffered in the OOSMfusion but also make the design of fusion algorithm highly simple and easy.Accordingly,a novel optimallinear recursive prediction weighted fusion method is proposed for one-step OOSE problem in this letter.As a tradeoff,its fusion accuracy is slightly lower than that of the OOSM method because the currentOOSM fusion is a smooth estimate and OOSE gets a prediction estimate.But,the smooth result of theOOSE problem also has good fusion accuracy.Performance analysis and computer simulation show thatthe total performance of the proposed one-step OOSE fusion algorithm is better than the current one-step OOSM fusion in the practical tracking systems.展开更多
基金Supported by the National Natural Science Foundation of China (Grant No. 60402033)
文摘In centralized multisensor tracking systems, there are out-of-sequence measurements （OOSMs） frequently arising due to different time delays in communication links and varying pre-processing times at the sensor. Such OOSM arrival can induce the ＂negative-time measurement update＂ problem, which is quite common in real mulUsensor tracking systems. The A1 optimal update algorithm with OOSM is presented by Bar-Shalom for one-step case. However, this paper proves that the optimality of A1 algorithm is lost in direct discrete-time model （DDM） of the process noise, it holds true only in discreUzed continuous-time model （DCM）. One better OOSM filtering algorithm for DDM case is presented. Also, another new optimal OOSM filtering algorithm, which is independent of the discrete time model of the process noise, is presented here. The performance of the two new algorithms is compared with that of A1 algorithm by Monte Carlo simulations. The effectiveness and correctness of the two proposed algorithms are validated by analysis and simulation results.
基金supported by the National Natural Science Foundation of China(61102168)
文摘There are many proposed optimal or suboptimal al- gorithms to update out-of-sequence measurement（s） （OoSM（s）） for linear-Gaussian systems, but few algorithms are dedicated to track a maneuvering target in clutter by using OoSMs. In order to address the nonlinear OoSMs obtained by the airborne radar located on a moving platform from a maneuvering target in clut- ter, an interacting multiple model probabilistic data association （IMMPDA） algorithm with the OoSM is developed. To be practical, the algorithm is based on the Earth-centered Earth-fixed （ECEF） coordinate system where it considers the effect of the platform＇s attitude and the curvature of the Earth. The proposed method is validated through the Monte Carlo test compared with the perfor- mance of the standard IMMPDA algorithm ignoring the OoSM, and the conclusions show that using the OoSM can improve the track- ing performance, and the shorter the lag step is, the greater degree the performance is improved, but when the lag step is large, the performance is not improved any more by using the OoSM, which can provide some references for engineering application.
基金the National Natural Science Foundation of China(No.60434020,No.60572051)International Coop-erative Project Foundation(No.0446650006)Ministryof Education Science Foundation of China(No.2050 92).
文摘The transmission modes of multi-hop and broadcasting for Wireless Sensor Networks(WSN)often make random and unknown transmission delays appear,so multisensor data fusion based ondelayed systems attracts intense attention from lots of researchers.The existing achievements for thedelayed fusion all focus on Out-Of-Sequence Measurements(OOSM)problem which has many dis-advantages such as high communication cost,low computational efficiency,huge computational com-plexity and storage requirement,bad real-time performance and so on.In order to overcome theseproblems occurred in the OOSM fusion,the Out-Of-Sequence Estimates(OOSE)are considered tosolve the delayed fusion for the first time.Different from OOSM which belongs to the centralized fusion,the OOSE scheme transmits local estimates from local sensors to the central processor and is thus thedistributed fusion;thereby,the OOSE fusion can not only avoid the problems suffered in the OOSMfusion but also make the design of fusion algorithm highly simple and easy.Accordingly,a novel optimallinear recursive prediction weighted fusion method is proposed for one-step OOSE problem in this letter.As a tradeoff,its fusion accuracy is slightly lower than that of the OOSM method because the currentOOSM fusion is a smooth estimate and OOSE gets a prediction estimate.But,the smooth result of theOOSE problem also has good fusion accuracy.Performance analysis and computer simulation show thatthe total performance of the proposed one-step OOSE fusion algorithm is better than the current one-step OOSM fusion in the practical tracking systems.
