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The Effect of Sensor Health on State Estimation

Shi, Ling and Epstein, Michael and Murray, Richard M. (2006) The Effect of Sensor Health on State Estimation. In: Proceedings of the 45th IEEE Conference on Decision and Control. IEEE Conference on Decision and Control . IEEE , Piscataway, NJ, pp. 3315-3320. ISBN 978-1-4244-0170-3.

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In this paper, we consider the problem of state estimation using the standard Kalman filter recursions which takes account of the available sensor health information. Given a stochastic description of the sensor health, we are able to show that the expected error covariance converges to a unique value for all initial values, while the available previous work only showed the upper bound of the expected error covariance converges. Our approach provides both theoretical value to the analysis as well as the potential to get tighter upper bound. Our results provide a criterion of evaluating the sensor measurement. In the multisensor fusion problem, depending on the system error tolerance levels, it can then be determined whether to fuse a particular sensor measurement or not. Examples and simulations are provided to assist the theory.

Item Type:Book Section
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Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2006 IEEE. Issue Date: 13-15 Dec. 2006. Date of Current Version: 07 May 2007. Work supported in part by AFOSR grant FA9550-04-1-0169. The authors would like to thank Andrew Lamperski for helpful discussions on some of the proofs in this paper.
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Air Force Office of Scientific Research (AFOSR)FA9550-04-1-0169
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INSPEC Accession Number9409080
Series Name:IEEE Conference on Decision and Control
Record Number:CaltechAUTHORS:20110615-112206500
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Official Citation:Ling Shi; Epstein, M.; Murray, R.M.; , "The Effect of Sensor Health on State Estimation," Decision and Control, 2006 45th IEEE Conference on , vol., no., pp.3315-3320, 13-15 Dec. 2006 doi: 10.1109/CDC.2006.377482 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:24014
Deposited By: Tony Diaz
Deposited On:17 Jun 2011 17:32
Last Modified:09 Nov 2021 16:20

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