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| Distributed Fusion Estimation of Asynchronous
Multi-Rate Multi-Sensor Network System in Navigation Guidance |
| LI Tongde 1， YAN Huaicheng 1， ZHOU Ge 2， FAN Sha 1， HONG Gu 2 |
| 1. Key Laboratory of Smart Manufacturing in Energy Chemical Process of the Ministry of Education， East China
University of Science and Technology， Shanghai 200237， China；2. Shanghai Electro-Mechanical
Engineering Institute，Shanghai 201109，China
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Abstract This paper studies the fusion estimation of multi-rate state distribution for multi-sensor network system with communication bandwidth constraints. For multi-rate sampled data system, a new expansion method is proposed, which transforms multi-rate sampled data system into single rate system. In order to meet the limited communication bandwidth, a dimension reduction strategy is used to allow only part of the local estimated signal components to be sent to the fusion center (FC). At the same time, a compensation strategy is proposed to compensate the unsent components of each component. For the local state estimation generated by multi-rate sensors, a new fusion estimation method is proposed by using the sequential fast covariance intersection (SFCI) method. Finally, a simulation example is provided to verify the effectiveness of the proposed distributed fusion estimation method.
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Received: 23 October 2020
Published: 07 September 2021
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Corresponding Authors:
严怀成（1977—），男，博士，教授，主要研究方向为网络化控制、机器人及航天器控制等。
E-mail: hcyan@ecust.edu.cn
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2021, Vol. 4 
