Robust weighted fusion steady-state kalman predictors with uncertain noise variances

In this paper, a direct approach of designing robust weighted fusion steady-state Kalman predictors with uncertain noise variances is presented. Based on the steady-state Kalman filtering theory, using the minimax robust estimation principle, the local and six weighted fusion robust steady-state Kalman predictors are proposed based on the worst case systems with the conservative upper bounds of noise variances. They include the three robust weighted state fusers, two robust weighted measurement fusers, and a modified robust covariance intersection (CI) fuser. Their actual prediction error variances are guaranteed to have the corresponding minimal upper bounds for all admissible uncertainties. A Lyapunov equation approach for robustness analysis and the concept of the robust accuracy are presented and their robust accuracy relations are proved. A simulation example verifies the accuracy relations and robustness.