Centralized Fusion Methods for Multi-Sensor System With Bounded Disturbances

The set-membership information fusion problem is studied for general multi-sensor dynamic systems. Based on set-membership theory, three centralized state fusion estimation algorithms in the presence of bounded disturbances are proposed, namely augmented algorithm, combined measurement filtering algorithm and pseudo-sequential filtering algorithm. Theoretical discussions on the convergence and boundedness of the proposed fusion algorithms are provided and their stability is proved. The estimate accuracy, computational complexity and flexibility of these three fusion algorithms are compared through theoretical analysis and simulation. And their exchanging property of measurement update order is discussed. Results show that these algorithms are functionally equivalent in terms of the estimation accuracy and the exchangeability of the measurement update order can be guaranteed as long as the parameters satisfy certain conditions. Meanwhile the simulation results prove the role of the proposed algorithms in improving state estimation accuracy. In addition, the combined measurement filtering algorithm has the highest calculation speed due to lower dimension. But it is less flexible because the sensor measurement matrices need to satisfy some additional conditions. These conclusions are valuable in applications.