A Robust Interacting Multisensor State Fusion Based on Adaptive Outlier Controlling Multirate Model  

作　　者：牛沿茏 李建勋 

机构地区：[1]School of Electronic Information and Electrical Eng.,Shanghai Jiaotong Univ.

出　　处：《Journal of Shanghai Jiaotong university(Science)》2007年第5期577-583,共7页上海交通大学学报（英文版）

基　　金：The National Natural Science Foundation ofChina (No60304007);The China Aviation Science Foundation (No 03F57003 );The QMX Project of Shanghai Science and Technology Development Foundation ( No04QMX1410)

摘　　要：An adaptive outlier controlling multirate model based on Hong’s multirate kinetic model was represented in order to resist the outliers and utilize their useful information. Wavelet transform was introduced to detect and control the outliers. The multirate information extraction and the controlling of outliers were properly integrated to establish an adaptive outlier controlling multirate model. The proposed model was applied to multisensor state fusion with interacting multiple model (IMM), and a robust interacting multisensor state fusion algorithm was established based on adaptive outlier controlling multirate model. The Monte-Carlo simulation shows that it could improve the accuracy of fusion estimation by 70% compared to Hong’s algorithm and at least 14% to Xiao’s algorithm.An adaptive outlier controlling multirate model based on Hong＇s multirate kinetic model was represented in order to resist the outliers and utilize their useful information. Wavelet transform was introduced to detect and control the outliers. The multirate information extraction and the controlling of outliers were properly integrated to establish an adaptive outlier controlling multirate model. The proposed model was applied to multisensor state fusion with interacting multiple model （IMM）, and a robust interacting multisensor state fusion algorithm was established based on adaptive outlier controlling multirate model. The Monte-Carlo simulation shows that it could improve the accuracy of fusion estimation by 70% compared to Hong＇s algorithm and at least 14% to Xiao＇s algorithm.

关 键 词：adaptive outlier controlling wavelet transform multirate model state fusion 

分 类 号：TP202[自动化与计算机技术—检测技术与自动化装置]