Asynchronous multi-sensor hierarchical adaptive data fusion algorithm

This paper presents an adaptive hierarchical data fusion algorithm for asynchronous multi-rate sensor. The proposed algorithm is different from general hierarchical fusion methods. Not only current values and previous values of local estimates but also the previous outputs of the global fusion are used for the global estimate. The global fusion adaptively selects local estimates for the center estimate by the introduction of mapping matrices. The innovation of the global fusion is adaptively adjusted with information-sharing coefficients. When failed to the local estimate, the predictive value of the local estimate will displace the estimate, and it is used for the global fusion. The global fusion algorithm is achieved. Simulation results demonstrated the effectiveness of the algorithm.