Journal
INFORMATION FUSION
Volume 14, Issue 1, Pages 78-86Publisher
ELSEVIER
DOI: 10.1016/j.inffus.2011.09.004
Keywords
Weighted fusion; Autocorrelation; Cross-correlation; Multiplicative noises; Robust Kalman filter; Minimum variance
Funding
- National Natural Science Foundation of China [61028008]
Ask authors/readers for more resources
In this paper, the problem of distributed weighted robust Kalman filter fusion is studied for a class of uncertain systems with autocorrelated and cross-correlated noises. The system under consideration is subject to stochastic uncertainties or multiplicative noises. The process noise is assumed to be one-step autocorrelated. For each subsystem, the measurement noise is one-step autocorrelated, and the process noise and the measurement noise are two-step cross-correlated. An optimal robust Kalman-type recursive filter is first designed for each subsystem. Then, based on the newly obtained optimal robust Kalman-type recursive filter, a distributed weighted robust Kalman filter fusion algorithm is derived for uncertain systems with multiple sensors. The distributed fusion algorithm involves a recursive computation of the filtering error cross-covariance matrix between any two subsystems. Compared with the centralized Kalman filter, the distributed weighted robust Kalman filter developed in this paper has stronger fault-tolerance ability. Simulation results are provided to demonstrate the effectiveness of the proposed approaches. (C) 2011 Elsevier B.V. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available