卡尔曼滤波器
非线性系统
滤波器(信号处理)
融合
噪音(视频)
传感器融合
投影(关系代数)
计算机科学
国家(计算机科学)
算法
控制理论(社会学)
过程(计算)
数学
人工智能
控制(管理)
哲学
物理
图像(数学)
操作系统
量子力学
语言学
计算机视觉
作者
Manlu Liu,Rui Lin,Jian Zhong Huo,Li-Guo Tan,Qing Ling,Eugene Yuryevich Zybin
标识
DOI:10.2478/msr-2022-0003
摘要
Abstract This work presents distributed predictor and filter without feedback for nonlinear stochastic uncertain system with correlated noises. Firstly, for the problem that the process noise and measurement noise are correlated, the two-step prediction theorem based on projection theorem is used to replace the one-step prediction theorem, and the two-step prediction value of a single sensor is obtained. Secondly, the two-step prediction value of each sensor state is used as the measurement information to modify the distributed fusion predictor to obtain the distributed fusion prediction value. Then, according to the projection theorem, the prediction value of distributed fusion is used as measurement information to modify the filtering value of distributed fusion. Finally, the Cubature Kalman filter (CKF) algorithm is used to implement the algorithm proposed in this paper. By comparison with existing methods, the algorithm proposed in this paper solves the problem that existing methods cannot handle state estimation and prediction problems for nonlinear multi-sensor stochastic uncertain systems with correlated noises.
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