Multirate optimal state estimation with sensor fusion

In this paper, multirate optimal state estimation problems are considered. Focuses are on the design of multirate Kalman filters using two sensor outputs, that is, the position sensor and the accelerometer measurements. Multirate kinematic Kalman filters are derived and implemented in two cases: N-delay input and N-delay output estimations. The effectiveness of multirate schemes is demonstrated through the experiments with a linear motor setup.