处理通信延迟的分布式无迹卡尔曼滤波算法  

Distributed Unscented Kalman Filter Algorithm With Handling Communication Delay

作　　者：王立梅 曾静 WANG Limei;ZENG Jing(School of Information Engineering,Shenyang University of Chemical Technology,Shenyang 110142,China)

机构地区：[1]沈阳化工大学信息工程学院,辽宁沈阳110142

出　　处：《沈阳大学学报（自然科学版）》2023年第4期300-308,F0003,共10页Journal of Shenyang University：Natural Science

基　　金：国家重点研发计划(2018YFB2003704);国家自然科学基金资助项目(61503257)。

摘　　要：针对通信延迟影响下非线性系统的状态估计问题,提出了一种分布式无迹卡尔曼滤波器估计算法。考虑了一类由多个子系统组成的非线性系统,各子系统之间通过自身的状态相互作用;基于无迹卡尔曼滤波器原理,给每个子系统设计了相应的局部状态估计器来估计子系统的状态;各局部状态估计器通过通信网络来交换信息,考虑了通信时可能存在时变延迟,提出了一种状态预测器生成延迟子系统的状态预测,补偿延迟带来的影响;通过对一个反应器分离器过程工艺实例的应用,说明了所提出的分布式状态估计方案的有效性和适用性。In order to solve the problem of state estimation of distributed systems,a distributed unscented Kalman filter estimation scheme was proposed to deal with the possible time-varying delay in communication between subsystem estimators.A class of nonlinear systems composed of multiple subsystems was considered,and each subsystem interacted with each other through its own state;based on the principle of unscented Kalman filter,a corresponding local state estimator was designed for each subsystem to estimate the state of the subsystem.Each local state estimator exchanged information through the communication network,considered the possible time-varying delay in communication,and proposed a state predictor to generate a state prediction of the delay subsystem to compensate for the impact of delay.The effectiveness and applicability of the proposed distributed state estimation scheme were illustrated by an example of a reactor-separator process.

关 键 词：非线性系统 分布式状态估计 通信延迟 无迹卡尔曼滤波器 化工过程 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]