제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.76.2-76
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- 2001
De-correlated Compression Filter Based on Time-Propagated Measurement Fusion
- Lee, Hyung-Keun (Seoul National Univ.) ;
- Lee, Jang-Gyu (Seoul National Univ.) ;
- Jee, Gyu-In (Seoul National Univ.) ;
- Park, Chan-Gook (Seoul National Univ.)
- Published : 2001.10.01
Abstract
In this paper, a new fusion architecture consisting of a host filter and a do-correlated compression filter is proposed based on propagated measurement fusion. In the proposed architecture, the host filter estimates the system states in long-term sense based on the measurements from the beginning to the current time. The de-correlated compression filter assists the host filter by providing fusion results in short-term sense based on the measurements within a block of time. The proposed de-correlated compression filter alleviates computational burden of the host filter by reducing the maximum amount of instantaneous computation, and provides an efficient environment for real-time fault detection and estimation.
Keywords