Estimation with Applications to Tracking and Navigation
Estimation with Applications to Tracking and Navigation
Multisensor Decision and Estimation Fusion
Multisensor Decision and Estimation Fusion
Optimal update with out-of-sequence measurements
IEEE Transactions on Signal Processing
Multisensor fusion for linear control systems with asynchronous, Out-Of-Sequence and erroneous data
Automatica (Journal of IFAC)
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In a multisensor target tracking system, observations produced by sensors typically arrive at a central processor out of sequence. There have been some update algorithms for single out-of-sequence measurement (OOSM). In this paper, we consider optimal centralized update algorithms with multiple asynchronous (different lag time) OOSMs. First, we generalize the optimal update algorithm with single one-step-lag OOSM in [Y. Bar-Shalom, "Update With Out-of-Sequence Measurements in Tracking: Exact Solution;' IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, vol. 38, pp. 769-778, July 2002] to optimal centralized update algorithm with multiple one-step-lag OOSMs. Then, based on best linear unbiased estimation, we present an optimal centralized update algorithm with multiple arbitrary-step-lag OOSMs. Finally, two suboptimal centralized update algorithms are proposed to reduce the computational complexity. A numerical example shows that performances of two suboptimal centralized algorithms are close to that of the optimal centralized update algorithm.