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Technical Briefs

Computationally Efficient Multisensor Fusion Estimation Algorithms

[+] Author and Article Information
Seokhyoung Lee

School of Information and Mechatronics, Gwangju Institute of Science and Technology, 1 Oryong-dong, Buk-gu, Gwangju 500-712, South Korealee-sh@gist.ac.kr

Vladimir Shin

School of Information and Mechatronics, Gwangju Institute of Science and Technology, 1 Oryong-dong, Buk-gu, Gwangju 500-712, South Koreavishin@gist.ac.kr

J. Dyn. Sys., Meas., Control 132(2), 024503 (Feb 04, 2010) (4 pages) doi:10.1115/1.4000659 History: Received September 24, 2008; Revised May 22, 2009; Published February 04, 2010; Online February 04, 2010

This paper provides two computationally effective fusion estimation algorithms. The first algorithm is based on Cholesky factorization of a cross-covariance block matrix. This algorithm has low computational complexity and is equivalent to the standard composite fusion estimation algorithm as well. The second algorithm is based on a special approximation scheme for local cross-covariances. Such approximation is useful to compute matrix weights for fusion estimation in a multidimensional-multisensor environment. Subsequent computational analysis of the proposed fusion algorithms is presented with corresponding examples showing the low computational complexities of the new fusion estimation algorithms.

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Copyright © 2010 by American Society of Mechanical Engineers
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