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An algorithm of weighted covariance for centralized asynchronous fusion based on Kalman
Huang, Xi-Feng1,2; Wu, Qin-Zhang1; Huang, X.-F. (huangsixiao@l63.com)
Pages1554-1557
2012
Language英语
DOI10.1109/ICICEE.2012.409
Indexed ByEi
Subtype会议论文
AbstractThis paper proposed an algorithm of weighted covariance for centralized asynchronous fusion based on Kalman(WCCAF). The algorithm makes linear minimum mean square error (LMMSE) as the criterion, and considers the relevance of measurement noise. In each fusion cycle the steps are: at first, filter the new measurement and predict the state to fusion time using kalman filter. And then, fuse the new predict state with the existing estimated state of this moment using the method of weighting the estimated state error covariance. WCCAF algorithm has high information utilization, and compared with existing algorithms, it has better fusion precision. Recursively computing function of WCCAF makes it has very good calculated efficiency and strong real-time performance. © 2012 IEEE.; This paper proposed an algorithm of weighted covariance for centralized asynchronous fusion based on Kalman(WCCAF). The algorithm makes linear minimum mean square error (LMMSE) as the criterion, and considers the relevance of measurement noise. In each fusion cycle the steps are: at first, filter the new measurement and predict the state to fusion time using kalman filter. And then, fuse the new predict state with the existing estimated state of this moment using the method of weighting the estimated state error covariance. WCCAF algorithm has high information utilization, and compared with existing algorithms, it has better fusion precision. Recursively computing function of WCCAF makes it has very good calculated efficiency and strong real-time performance. © 2012 IEEE.
Conference NameProceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012
Conference Date2012
Citation statistics
Document Type会议论文
Identifierhttp://ir.ioe.ac.cn/handle/181551/7543
Collection光电测控技术研究室(三室)
Corresponding AuthorHuang, X.-F. (huangsixiao@l63.com)
Affiliation1. Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, Sichuan, 610209, China
2. Academy of Sciences Graduate School, Chinese Academy of Sciences, Institute of Optics and Electronics, Chengdu, Sichuan, 610209, China
Recommended Citation
GB/T 7714
Huang, Xi-Feng,Wu, Qin-Zhang,Huang, X.-F. . An algorithm of weighted covariance for centralized asynchronous fusion based on Kalman[C],2012:1554-1557.
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