Modified Multirate Kalman Filter for Improving the Sampling Frequency of Single Low Speed Sensor

Recently, as the development of material technology, ones have many more options in choosing instruments used in the system. Sensor system, as well, is a vital part of any control systems. However, in many cases, these sensors have very low update speed and are not directly suitable to control purpose. In order to utilize these sensors in control system, they need a software algorithm to improve sampling speed. This paper proposes a Modified Multirate Kalman Filter to predict pseudo measurement between sampling periods of sensors in order to increase its sampling speed. The proposed method of the paper is evaluated and compared with conventional multirate Kalman filter.