State estimator for multisensor systems with irregular sampling and time-varying delays

被引:18
作者
Penarrocha, I. [1 ]
Sanchis, R. [1 ]
Romero, J. A. [1 ]
机构
[1] Univ Jaume 1, Dept Engn Sistemes Ind & Disseny, Castellon de La Plana 12071, Spain
关键词
state estimation; scarce measurements; time-varying delays;
D O I
10.1080/00207721.2011.625482
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This article addresses the state estimation in linear time-varying systems with several sensors with different availability, randomly sampled in time and whose measurements have a time-varying delay. The approach is based on a modification of the Kalman filter with the negative-time measurement update strategy, avoiding running back the full standard Kalman filter, the use of full augmented order models or the use of reorganisation techniques, leading to a lower implementation cost algorithm. The update equations are run every time a new measurement is available, independently of the time when it was taken. The approach is useful for networked control systems, systems with long delays and scarce measurements and for out-of-sequence measurements.
引用
收藏
页码:1441 / 1453
页数:13
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