Multisensor out of sequence data fusion for estimating the state of discrete control systems
| dc.contributor.author | Besada Portas, Eva | |
| dc.contributor.author | López Orozco, José Antonio | |
| dc.contributor.author | Cruz García, Jesús Manuel de la | |
| dc.contributor.author | Besada, Juan A. | |
| dc.date.accessioned | 2023-06-20T03:33:22Z | |
| dc.date.available | 2023-06-20T03:33:22Z | |
| dc.date.issued | 2009-07 | |
| dc.description | © 2009 IEEE. This work was supported by the Spanish Grants TAP/97-0607-C03, DPI2006-15661-C02-01, and CAM-S-0505/DPI/0391 and by the Spanish post-doctoral Grant EX-2007-0915. Recommended by Associate Editor Z. Wang. | |
| dc.description.abstract | The fusion center of a complex control system estimates its state with the information provided by different sensors. Physically distributed sensors, communication networks, pre-processing algorithms, multitasking, etc, introduce non-systematic delays in the arrival of information to the fusion center, making the information available Out-Of-Sequence (OOS). For real-time control systems, the state has to be efficiently estimated with all the information received so far. So, several solutions of the OOS problem for dynamic Multiple-Input Multiple-Output (MIMO) discrete control systems traditionally solved by the Kalman Filter (KF) have been proposed recently. This paper presents two new streamlined algorithms for the linear and non-linear case. IFAsyn, the linear algorithm, is equivalent to other optimal solutions but more general, efficient and easy to implement. EIFAsyn, the nonlinear one, is a new solution of the OOS problem in the Extended KF (EKF) framework. | |
| dc.description.department | Sección Deptal. de Arquitectura de Computadores y Automática (Físicas) | |
| dc.description.faculty | Fac. de Ciencias Físicas | |
| dc.description.refereed | TRUE | |
| dc.description.sponsorship | Spanish Grants | |
| dc.description.sponsorship | Spanish post-doctoral Grant | |
| dc.description.status | pub | |
| dc.eprint.id | https://eprints.ucm.es/id/eprint/21791 | |
| dc.identifier.doi | 10.1109/TAC.2009.2020667 | |
| dc.identifier.issn | 0018-9286 | |
| dc.identifier.officialurl | http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5152909 | |
| dc.identifier.relatedurl | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5152909 | |
| dc.identifier.uri | https://hdl.handle.net/20.500.14352/43856 | |
| dc.issue.number | 7 | |
| dc.journal.title | IEEE Transactions on Automatic Control | |
| dc.language.iso | eng | |
| dc.page.final | 1732 | |
| dc.page.initial | 1728 | |
| dc.publisher | IEEE-Inst Electrical Electronics Engineers INC | |
| dc.relation.projectID | TAP/97-0607-C03 | |
| dc.relation.projectID | DPI2006-15661-C02-01 | |
| dc.relation.projectID | CAM-S-0505/DPI/0391 | |
| dc.relation.projectID | EX-2007-0915 | |
| dc.rights.accessRights | open access | |
| dc.subject.cdu | 004 | |
| dc.subject.keyword | Tracking | |
| dc.subject.keyword | Update | |
| dc.subject.ucm | Informática (Informática) | |
| dc.subject.unesco | 1203.17 Informática | |
| dc.title | Multisensor out of sequence data fusion for estimating the state of discrete control systems | |
| dc.type | journal article | |
| dc.volume.number | 54 | |
| dcterms.references | [1] Y. Bar-Shalom, “Update with out-of-sequence measurements in tracking: Exact solution,” IEEE Trans. Aerosp. Electron. Syst, vol. 38, no. 3, pp. 769–778, Jul. 2002. [2] G. O. Mutambara, Decentralised Estimation and Control for Multisensor Fusion. Boca Raton, FL: CRC, 1998. [3] B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, M. I. Jordan, and S. S. Sastry, “Kalman filtering with intermittent observations,” IEEE Trans. Automat. Control, vol. 49, no. 9, pp. 1453–1464, Sep. 2004. [4] J. P. Hespanha, P. Naghhtabrizi, and Y. Xu, “A survey of recent results in networked control systems,” Proc. IEEE, vol. 95, no. 1, pp. 138–162, Jan. 2007. [5] S. Challa, R. J. Evans, X.Wang, and J. Leggy, “A fixed lag-smoothing solution to out-of-sequence information fusion problems,” Commun. Informat. Syst., vol. 2, no. 4, pp. 325–348, 2002. [6] A. Matveev and A. V. Savkin, “The problem of state estimation via asynchronous communication channels with irregular transmission times,” IEEE Trans. Automat. Control, vol. 48, no. 4, pp. 670–676, Apr. 2003. [7] K. Zhang, X. R. Li, and Y. Chen, “Optimal update with out of sequence measurements for distributed filtering,” in Proc. 5th Int. Conf. Informat. Fusion, 2002, pp. 1519–1526. [8] K. Zhang, X. Li, and Y. Zhu, “Optimal update with out-of-sequence measurements,” IEEE Trans. Signal Processing, vol. 53, no. 6, pp. 1992–2004, Jun. 2005. [9] E. W. Nettleton and H. Durrant-Whyte, “Delayed and asequent data in decentralised sensing networks,” in Proc. SPIE Conf., 2001, pp. 1–9. [10] K. Zhang, X. Li, and Y. Chen, “Multi-sensor multi-tracking with out-of-sequence measurements,” in Proc. ISIF’03, 2003, pp. 672–679. [11] Z. WenHui, L. Lin, C. GuoHai, and Y. AnXi, “Optimal updater with multistep out of sequence measurements in target tracking,” in Proc. 8th Int. Conf. Signal Processing, 2006, vol. 4, pp. 281–284. [12] H. Zhang, L. Xie, D. Zhang, and Y. C. Soh, “A reorganized innovation approach to linear estimation,” IEEE Trans. Automat. Control, vol. 49,no. 10, pp. 1810–1814, Oct. 2004. [13] Y. Bar-Shalom, M. Mallick, H. Chen, and R. Washburn, “One-step solution for the general out-of-sequence measurement problem in tracking,” IEEE Trans. Aerosp. Electron. Syst., vol. 40, no. 1, pp. 27–37, Jan. 2004. [14] M. Orton and A. Marrs, “A bayesian approach to multi-target tracking and data fusion with out-of-sequence measuerements,” in Proc. IEE Int. Workshop Target Tracking Algorithms Appl., 2001, pp. 1–15. [15] M. Mallick, M. T. Kirubarajan, and S. Arulampalam, “Out-of-sequence measurement processing for tracking ground target using particle filters,” in Proc. IEEE Aerosp. Conf, 2002, vol. 4, pp. 1809–1818. [16] F. Xue, Z. Liu, and Z. Shi, “Unscented particle filter for bearings-only tracking with out-of-sequence measurements in sensor networks,” in Proc. 6th Int. Conf. Intell. Syst. Design Appl., Oct. 2006, vol. 2, pp. 540–545, IEEE. [17] E. Besada-Portas, “Fusion multisensorial de medidas temporalmente desordenadas. aplicación a robots autónomos mobiles,” Ph.D. dissertation, Universidad Complutense de Madrid, Madrid, Spain, 2004. [18] E. Besada-Portas, J. A. Lopez-Orozco, and J. M. de la Cruz, “Multisensor out-of-sequence data fusion for estimating the state of dynamic systems,” in Proc. IEEE Inform., Decision Control Conf., Feb. 2007, pp. 348–353. [19] Z. Jia and A. Balasuriya, “Visual target tracking for autonomous vehicles with the optimal oosm solution,” in Proc. 8th Int. Conf. Intell. Transport. Syst., 2005, pp. 113–118. | |
| dspace.entity.type | Publication | |
| relation.isAuthorOfPublication | 0acc96fe-6132-45c5-ad71-299c9dcb6682 | |
| relation.isAuthorOfPublication | 26b95994-f79c-4d7c-8de5-a003d6d2a770 | |
| relation.isAuthorOfPublication.latestForDiscovery | 0acc96fe-6132-45c5-ad71-299c9dcb6682 |
Download
Original bundle
1 - 1 of 1
