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Sensors 2017, 17(10), 2222; https://doi.org/10.3390/s17102222

A Weighted Measurement Fusion Particle Filter for Nonlinear Multisensory Systems Based on Gauss–Hermite Approximation

1,2
,
1,* and 1
1
School of Electronic Engineering, Heilongjiang University, Harbin 150080, China
2
School of Computer and Information Engineering, Harbin University of Commerce, Harbin 150001, China
*
Author to whom correspondence should be addressed.
Received: 8 August 2017 / Revised: 24 September 2017 / Accepted: 26 September 2017 / Published: 28 September 2017
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Abstract

We addressed the fusion estimation problem for nonlinear multisensory systems. Based on the Gauss–Hermite approximation and weighted least square criterion, an augmented high-dimension measurement from all sensors was compressed into a lower dimension. By combining the low-dimension measurement function with the particle filter (PF), a weighted measurement fusion PF (WMF-PF) is presented. The accuracy of WMF-PF appears good and has a lower computational cost when compared to centralized fusion PF (CF-PF). An example is given to show the effectiveness of the proposed algorithms. View Full-Text
Keywords: nonlinear system; weighted measurement fusion; Gauss–Hermite approximation; particle filter nonlinear system; weighted measurement fusion; Gauss–Hermite approximation; particle filter
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Li, Y.; Sun, S.L.; Hao, G. A Weighted Measurement Fusion Particle Filter for Nonlinear Multisensory Systems Based on Gauss–Hermite Approximation. Sensors 2017, 17, 2222.

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