Globally Optimal Centralized and Sequential Fusion Filters for Uncertain Systems With Time-Correlated Measurement Noises

Abstract

This paper is concerned with the fusion filtering problem for stochastic uncertain multi-sensor systems with time-correlated measurement noises, where the stochastic uncertainties are described by white multiplicative noises, and the additive measurement noises are first-order Gauss-Markov Processes. By introducing the recursive measurement noise estimators, the centralized fusion filter (CFF) based on the idea of batch process and sequential fusion filter (SFF) based on the idea of sequential process are designed in the linear minimum variance (LMV) sense by an innovation analysis approach, respectively. The proposed SFF can achieve the same estimation accuracy as the CFF. It is also globally optimal. The equivalence on estimation accuracy of the SFF and CFF is strictly proved by mathematical induction method. The stability and steady-state properties of the proposed fusion filters are analyzed. Two examples show the effectiveness of the proposed fusion algorithms.

Keywords

• Time-correlated noise
• centralized fusion
• sequential fusion
• global optimality
• filter