A0789
Title: Distributed fusion filtering for multi-sensor multi-rate systems with stochastic nonlinearities and Packet disorders
Authors: Pengyun Yue - Harbin University of Science and Technology (China)
Jun Hu - Harbin University of Science and Technology (China)
Hui Yu - Harbin University of Science and Technology (China) [presenting]
Long Xu - Harbin University of Science and Technology (China)
Abstract: The distributed fusion filtering problem is investigated for a class of multi-sensor multi-rate systems (MSMRSs) with stochastic nonlinearities and packet disorders (PDs). The PDs caused by random transmission delay are described by a set of random variables with known probability distributions. In order to facilitate the design of the filtering scheme, a virtual measurement method is introduced to convert multi-rate systems into single-rate systems. The purpose is to design a new local filtering scheme such that, for the presence of stochastic nonlinearities and PDs, the upper bound on each local filtering error covariance (LFEC) is minimized by selecting an appropriate gain matrix. By using mathematical induction, a sufficient condition is obtained to ensure that each LFEC is uniformly bounded. In addition, local estimates are fused based on the inverse covariance intersection (ICI) fusion method. Finally, the effectiveness of the proposed fusion filtering algorithm is shown through a simulation example.
