登录    |    注册

您好,欢迎来到中国测试科技资讯平台!

首页> 《中国测试》期刊 >本期导读>未知输入干扰下异构多传感器分布式两级信息滤波与偏差联合估计

未知输入干扰下异构多传感器分布式两级信息滤波与偏差联合估计

129    2021-02-07

¥0.50

全文售价

作者:李宇1, 周洁1, 申强2, 高嵩1

作者单位:1. 西安工业大学电子信息工程学院,陕西 西安 710021;
2. 西北工业大学 空天微纳系统教育部重点实验室,陕西 西安 710072


关键词:多传感器融合;未知输入;两级信息滤波;偏差估计


摘要:

针对目标跟踪过程中受未知输入影响的多传感器网络,提出一种局部单传感器抗干扰信息滤波算法并根据此算法实现分布式一致性多传感器融合滤波估计实现目标的精确跟踪。首先,建立包含未知输入的系统模型;其次,消除未知输入影响并设计局部单传感器两级信息滤波算法实现状态和广义偏差的同时估计;最后,根据提出的单传感器两级信息滤波算法进行分布式加权数据融合。仿真结果表明,该方法及其融合算法的系统偏差、状态估计误差和均方根误差均明显降低,目标跟踪精度有所提高,并且具有较低的运算量和较高的一致性。


Distributed two-stage information filtering and bias estimation for heterogeneous multi-sensor under unknown input interference
LI Yu1, ZHOU Jie1, SHEN Qiang2, GAO Song1
1. School of Electronic Information Engineering, Xi’an Technological University, Xi’an 710021, China;
2. MOE Key Laboratory of Micro/Nano Systems for Aerospace, Northwestern Polytechnical University, Xi’an 710072, China
Abstract: This paper address the problem of the joint local single-sensor filtering algorithm and its centralized multi-sensor fusion filtering estimation under a common unknown input in the case of bias evolution in the linear discrete random time-varying systems. First, a system model containing unknown input is established. Second, the effects of unknown inputs are eliminated, to achieve simultaneous estimation of state and bias, a local single-sensor two-stage filtering algorithm is designed. Finally, based on the single-sensor two-stage filtering algorithm, a centralized data fusion is designed. Simulation results show that the system deviation, state estimation error and root mean square error of this method and its fusion algorithm are significantly reduced. The improved accuracy proves that this method is very effective.
Keywords: multi-sensor fusion;unknown input;two-stage filter;bias estimation
2021, 47(2):125-132  收稿日期: 2020-11-06;收到修改稿日期: 2020-12-31
基金项目: 陕西省重点研发计划项目(2019GY-066);陕西省教育厅专项科研计划项目(19JK0407);航空基金项目(201958053002);陕西科技新星支持项目(2020KJXX-072)
作者简介: 李宇(1997-),女,陕西镇安县人,硕士研究生,专业方向为模式识别与智能系统
参考文献
[1] 柯彦冰, 顾凯炀, 徐宇飞, 等. 故障下随机多智能体系统的混合无源/H_∞容错一致性[J]. 控制理论与应用, 2020, 37(10): 2266-2272
[2] 代波, 何玉庆, 谷丰, 等. 结合滤波与优化的无人机多传感器融合方法[J]. 中国科学: 信息科学, 2020, 50(12): 1919-1931
[3] 王中立, 牛颖. 基于多传感器信息融合的机器人障碍物检测[J]. 中国测试, 2017, 43(8): 80-85
[4] PU W Q, LIU Y F, YAN J K, et al. Optimal estimation of sensor biases for asynchronous multi-sensor data fusion[J]. Mathematical Programming, 2017, 170(1): 357-386
[5] CHEN X Q, LIU M. A two-stage extended Kalman filter method for fault estimation of satellite attitude control systems[J]. Journal of the Franklin Institute, 2017, 354(2): 872-886
[6] LU Z H, ZHU M Y, YE Q W, et al. Performance analysis of two EM-based measurement bias estimation processes for tracking systems[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(9): 1151-1166
[7] 杨继森, 牟智铭, 李路建, 等. 时栅位移传感器中激励信号引入误差的分析与修正[J]. 中国测试, 2020, 46(8): 80-86
[8] CHEN W H. Disturbance observer based control for nonlinear systems[J]. IEEE/ASME Transactions on Mechatronics, 2004, 9(4): 706-710
[9] HSIEH C S. Robust two-stage Kalman filters for systems with unknown inputs[J]. IEEE Transactions on Automatic Control, 2000, 45(12): 2374-2378
[10] HSIEH C S. On the optimality of two-stage Kalman filtering for systems with unknown inputs[J]. Asian Journal of Control, 2010, 12(4): 510-523
[11] HMIDA F B, KHEMIRI K, RAGOT J, et al. Three-stage Kalman filter for state and fault estimation of linear stochastic systems with unknown inputs[J]. Journal of the Franklin Institute, 2012, 349(7): 2369-2388
[12] HSIEH C S. H∞ Kalman filtering for rectangular descriptor systems with unknown inputs[J]. Proceedings of the IEEE Conference on Decision and Control., 2011, 12(1): 2404-2409
[13] ZHOU J, GAO S, SHEN Q, et al. High-accuracy parallel two-stage estimator for generalized bias of micro sensor with unknown input[C]// 2019 22th International Conference on Information Fusion (FUSION). IEEE, 2019.
[14] ZHOU J, LIANG Y, YANG F, et al. Multi-sensor consensus estimation of state sensor biases and unknown input[J]. Sensors, 2016, 16(9): 1407.

tb欧洲pt娱乐城平台 MG游戏官网 凤凰平台网址是什么 太阳城线上娱乐开户登入 线上赌博网站登入
圣亚女优PT电子 澳门皇浦真人美女 大佬娱乐博彩注册 四川棋牌游戏有哪些 通博棋牌洗码
优发欢乐棋牌 十三张游戏开户 格林游戏代理洗码合作 mg线上VIP提款最快 大三巴开户送钱
世博真人洗码 第一棋牌 申博游戏官方网站 九州游戏占成 上葡京登入网站