Multiple-model adaptive estimation for measurements with unknown time delay

Kyuman Lee, Eric N. Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

If a sensor requires finite processing and communication time, then the current sensor reading actually corresponds to the states of a vehicle at some point in the past. At the sensor fusion algorithm, it is expected that large errors may accumulate over time if we simply ignore the fact that the sensor measurement is lagged. Over several decades, the Kalman filter based compensation techniques for the sensor time-delay were introduced. However, when the existence of measurement delays is not known or the delay values are uncertain, a multiple-model adaptive estimator converges to the correct model between a modified extended Kalman filter to handle the lagged measurements and a standard extended Kalman filter without time-delay compensation. Furthermore, the multiple Kalman filters running in parallel each generate an estimate of the state, and combine them to obtain a refined state estimate. The simulation work, including Monte Carlo results, is reported for a variety of cases.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference, 2017
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624104503
StatePublished - Jan 1 2017
EventAIAA Guidance, Navigation, and Control Conference, 2017 - Grapevine, United States
Duration: Jan 9 2017Jan 13 2017

Publication series

NameAIAA Guidance, Navigation, and Control Conference, 2017

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2017
CountryUnited States
CityGrapevine
Period1/9/171/13/17

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Multiple-model adaptive estimation for measurements with unknown time delay'. Together they form a unique fingerprint.

  • Cite this

    Lee, K., & Johnson, E. N. (2017). Multiple-model adaptive estimation for measurements with unknown time delay. In AIAA Guidance, Navigation, and Control Conference, 2017 (AIAA Guidance, Navigation, and Control Conference, 2017). American Institute of Aeronautics and Astronautics Inc, AIAA.