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| A New Algorithm for Out of Sequence Measurement Problem |
| Wang Wei①②; Huang Xin-han①; Xu Zhong-chang②; Peng Gang① |
①Dept. of Control Science & Engineering, Huazhong University of Science Technology, Wuhan 430074, China;
②School of Science, Naval University of Engineering, Wuhan 430033, China |
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Abstract In multisensor tracking systems that operate in a centralized manner, there are usually different time delays in transmitting the scans or frames from the various sensors to the center. This can lead to situations where measurements from the same target arrive out of sequence. Thus, such “Out-Of-Sequence” Measurement (OOSM) problem is result in. Inherited from the idea of “reconstruction of Centralized Estimate”, a new algorithm for out of sequence measurement problem, by fusing forward prediction and equivalent measurement approach, is presented. The algorithm involves a decorrelation problem. Theoretical Analysis and Monte Carlo Simulation results indicate that the new algorithm corresponding to the 1-step lag OOSM case is optimal, and when the process noise is small, and/or the update rate of system tracks is reasonably high, the degradation in performance of the algorithm has been shown to be small.
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Received: 16 September 2008
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2009, Vol. 31 
