| A Robust Interacting Multisensor State Fusion Based on Adaptive Outlier Controlling Multirate Model |
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| 作者姓名： | 牛沿茏 李建勋 |
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| 作者单位： | School of Electronic Information and Electrical Eng. Shanghai Jiaotong Univ.，School of Electronic Information and Electrical Eng.，Shanghai Jiaotong Univ.，Shanghai 200240，China，Shanghai 200240，China |
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| 基金项目： | 国家自然科学基金;国家航天科学基金;上海市科技厅科学基金 |
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| 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.
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| 关 键 词： | 适配器 子波转换 多级速度模型 自动化设计 |
| 文章编号： | 1007-1172（2007）05-0577-07 |
| 修稿时间： | 2006-08-20 |
A Robust Interacting Multisensor State Fusion Based on Adaptive Outlier Controlling Multirate Model |
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| NIU Yan-long,LI Jian-xun.A Robust Interacting Multisensor State Fusion Based on Adaptive Outlier Controlling Multirate Model[J].Journal of Shanghai Jiaotong university,2007,12(5):577-583. |
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| Authors: | NIU Yan-long LI Jian-xun |
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| Institution: | School of Electronic Information and Electrical Eng. , Shanghai Jiaotong Univ., Shanghai 200240,China |
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| Abstract: | 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. |
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| Keywords: | adaptive outlier controlling wavelet transform multirate model state fusion |
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