The Recursive Fusion Algorithm with Out-of-Sequence Measurements for Sensor Networks

In the target tracking system, the phenomenon of "out-of-sequence" measurements (OOSM) always occurs due to different rate of data transmission and random communication delays. The fusion problem with one-step-lag OOSM for sensor networks is researched in this paper. A recursive algorithm is derived based on algorithm Al and the sequential weighted fusion technology. With the exception of slightly lower fusion accuracy, the proposed algorithm is better than the existing approach (X. B. Zhang et al., 2006) in other performance indexes, such as real-time performance, storage, applicability and fault tolerance. So, the application ability of the existing method is greatly limited in practical systems. The superiority of the novel algorithm is shown by performance analysis and computer simulation.