Multisensor out of sequence data fusion for estimating the state of discrete control systems



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Besada Portas, Eva and López Orozco, José Antonio and Cruz García, Jesús Manuel de la and Besada, Juan A. (2009) Multisensor out of sequence data fusion for estimating the state of discrete control systems. IEEE Transactions on Automatic Control, 54 (7). pp. 1728-1732. ISSN 0018-9286

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The fusion center of a complex control system estimates its state with the information provided by different sensors. Physically distributed sensors, communication networks, pre-processing algorithms, multitasking, etc, introduce non-systematic delays in the arrival of information to the fusion center, making the information available Out-Of-Sequence (OOS). For real-time control systems, the state has to be efficiently estimated with all the information received so far. So, several solutions of the OOS problem for dynamic Multiple-Input Multiple-Output (MIMO) discrete control systems traditionally solved by the Kalman Filter (KF) have been proposed recently. This paper presents two new streamlined algorithms for the linear and non-linear case. IFAsyn, the linear algorithm, is equivalent to other optimal solutions but more general, efficient and easy to implement. EIFAsyn, the nonlinear one, is a new solution of the OOS problem in the Extended KF (EKF) framework.

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© 2009 IEEE. This work was supported by the Spanish Grants TAP/97-0607-C03, DPI2006-15661-C02-01, and CAM-S-0505/DPI/0391 and by the Spanish post-doctoral Grant EX-2007-0915. Recommended by Associate Editor Z. Wang.

Uncontrolled Keywords:Tracking, Update
Subjects:Sciences > Computer science
ID Code:21791
Deposited On:21 Jun 2013 18:06
Last Modified:31 Dec 2020 00:01

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