State Estimation and Fusion in the Presence of Integrated Measurement

State estimation and fusion is studied using Kalman filter (KF) when a slow-rate integrated measurement is available. Integrated measurement is common in industrial processes, when a sample of material is gradually collected over some period of time and then sent to a laboratory for analysis. In this case, the laboratory measurement will reflect the material properties that have been integrated over the sampling period. The goal is to estimate the fast-rate value of states that evolve with time. A modified KF is proposed to execute state estimation using a slow-rate integrated measurement. Fusion of the slow-rate state estimate and other fast-rate measurements can improve the final state estimation of the process. The performance of the proposed method is demonstrated through both simulation and experimental study in a laboratory scale hybrid tank pilot plant.