Multi-rate stochastic H-infinity filtering for networked multi-sensor fusion

作者：Liang, Yan; Chen, Tongwen^*; Pan, Quan

来源：Automatica, 2010, 46(2): 437-444.

DOI：10.1016/j.automatica.2009.11.019

• Multi-rate systems
• Multi-sensor fusion
• Networked control systems
• H-infinity filtering
• Unknown input observers

This paper presents a multi-rate filtering problem for a class of networked multi-sensor fusion systems with packet dropouts (PDs): the state evolves according to a linear discrete-time model with norm-bounded unknown inputs (UIs), and its underlying period is h; the p sensors are distributively deployed with different sampling periods n(1)h.....n(p)h; multi-rate sensor measurements, corrupted by UIs, are Subject to stochastic PDs in the transmission to a fusion center for state estimation; the estimation is updated at the period mh. Different from the single-rate estimator design with PDs which are treated as stochastic parameters, a UI observer is proposed where PDs are represented as zero-mean white input noises of the linear time-variant estimation error system. The results on the existence of a stable observer are proposed. Due to insufficient design freedom for absolute error decoupling, we turn to designing an observer-based stochastic H-infinity filter. A numerical example of distributive multi-sensor target tracking is given to illustrate the proposed filter.

• 出版日期2010-2
• 单位西北工业大学