Filtering Algorithm of Out-of-Sequence Measurement Based on Sequential Filtering

In multi-sensor tracking and fusion system, due to the different pre-processing time and sampling rate of sensors, as well as the inherent random communication delay of the channel, the measurement data of sensor may arrive at the fusion center in an unordered manner. The current out-of-order measurement filtering methods cannot fully meet the engineering requirements in terms of tracking accuracy and computational complexity. This paper proposes a centralized data fusion method based on lag compensation. This method can deal with one-step or even multi-step delay measurement data, and the compensation accuracy can be closed to the fusion accuracy under orderly measurement. At the same time, this method has the ability of selective fusion, which improves the positioning accuracy while relatively reducing the amount of calculation and storage. The simulation results verify the effectiveness of the algorithm.