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Fusion estimation for state-saturated multi-rate systems with integral measurement and sensor resolution
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  • Changcheng Shi,
  • Long Xu,
  • Hui Yu,
  • Ling Hou
Changcheng Shi
Harbin University of Science and Technology

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Long Xu
Harbin University of Science and Technology
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Hui Yu
Harbin University of Science and Technology
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Ling Hou
Harbin University of Science and Technology
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Abstract

The fusion estimation problem for a class of multi-rate systems (MRS) subject to state saturation is examined in this paper. varying sensors have varying sensor sampling rates (SSRs), and in MRS, the system’s status update rate (SUR) and the SSR can differ from one another. In addition, to incorporate the requirements of actual engineering practice, the measurement output of sensors is influenced by the sensor resolution and the phenomenon of integral measurements. The aim of this paper is to design an appropriate set of local estimators for each sensor node, taking into account the effects of integral measurement, sensor resolution and multi-rate sampling mechanism. Then, Design of the upper bound on the error covariance of the estimator can be obtained by solution of the matrix difference equation, and the relevant filter parameter is determined by minimizing the obtained upper bound. For local state estimation, an acceptable fusion estimating approach based on the covariance intersection (CI) method is given, and its consistency is demonstrated. Lastly, the effectiveness and appropriateness of the suggested multi-rate fusion estimation approach are confirmed by a simulated example.