Multi-rate sensor adaptive data fusion algorithm based on incomplete measurement

This paper proposes an adaptive data fusion algorithm for a multi-rate sensor system based on incomplete measurement. The algorithm has built a method of sensor subsystem fault detection. The subsystem failure is detected and the incomplete measurement is confirmed to avoid contaminating the entire system due to the single failure. The algorithm has built the subsystem switch control and it also introduced mapping matrices. Meanwhile, the algorithm defined new information sharing coefficients. The algorithm can adaptively select subsystems for the center integration. When the incomplete measurement of the subsystem is found, the predicted value of the subfilter will displace the state estimation for the center fusion. The current state estimation and a priori value of the subfilter are used by the global fusion, and this will improve the center estimate performance. The simulation result indicates the effectiveness of the proposed algorithm.