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A State Estimation and Data Fusion Method for Multi-rate Observational Data

A technology for observation data and state estimation, which is applied in the fields of electrical digital data processing, special data processing applications, computing, etc., and can solve the problems of energy saving without considering distributed data fusion.

Inactive Publication Date: 2017-09-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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AI Technical Summary

Problems solved by technology

In the past few years, there have been many articles combining the transmission rate method with the distributed fusion method, but none of these articles consider the energy saving problem in distributed data fusion

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  • A State Estimation and Data Fusion Method for Multi-rate Observational Data
  • A State Estimation and Data Fusion Method for Multi-rate Observational Data
  • A State Estimation and Data Fusion Method for Multi-rate Observational Data

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Embodiment Construction

[0036] The following examples illustrate the present invention:

[0037] Hardware environment: computer; correlator

[0038]Software configuration: Windows 2000 / XP; any language environment software such as matlab or C language or C++.

[0039] The block diagram of centralized, sequential and distributed state estimation and data fusion methods for multi-rate observation data in wireless sensor networks is shown in Fig. figure 1 , 2, 3 are shown.

[0040] A multi-rate sensor, discrete-time linear dynamic system with N sensors observing the same target can be described as

[0041] x(k i+1 )=A p x(k i )+B p w p (k i ), i=0,1,2,…

[0042] y l (k i )=C pl (k i )x(k i )+v pl (k i ), l=1,2,…,N

[0043] Among them, x(k i ) ∈ R n is k i System state at time. A p ∈R n×n is the system transition matrix, B p ∈R n is the system noise matrix; w p (k i ) is the system noise, modeled as a Gaussian distribution.

[0044] is sensor l at time k i Measurement. is...

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Abstract

The present invention proposes a centralized state estimation and data fusion method of multi-rate observation data, and applies the lifting technology to model the multi-rate estimation system as a single-rate discrete-time system with multiple random parameters. Based on the obtained system model, a centralized fusion estimation algorithm, a sequential fusion estimation algorithm and a distributed fusion estimation algorithm are proposed respectively.

Description

technical field [0001] The invention belongs to the technical field of multi-sensor information fusion in the aspect of information processing, and relates to a state estimation and data fusion method for multi-rate observation data. Background technique [0002] In dynamic systems, filtering is an estimate of the current state. The word "filter" is used because the process of obtaining an optimal estimate from noisy data is equivalent to "filtering out" that noise. The term filtering therefore has the meaning of eliminating interfering signals, ie noise. In the control system, the controller also needs to filter the signal to obtain the state estimation in the dynamic system. Signal filtering is often used in signal processing in the frequency and spatial domains. In the spatial domain, for example, a signal from a certain direction is selected. Navigation is an evaluation platform that detects the location of sensors. [0003] In the sensor network, the state estimati...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00
Inventor 闫莉萍姜露夏元清付梦印
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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