Conference Proceedings

STATE ESTIMATION IN SYSTEMS WITH MULTIPLE SIMULTANEOUS MEASUREMENTS

G PULFORD, R EVANS, M Peshkin (ed.)

Proceedings of 1994 33rd IEEE Conference on Decision and Control | I E E E | Published : 1994

Abstract

We consider the problem of estimating the state of a discrete-time, linear stochastic system given a number of distinct, noisy measurements at each time instant. The observation process consists of a finite set of known, linear measurement models with additive white noise. The number of measurements may vary with time and the correspondence of the measurements with the models is unknown. We derive a recursive, suboptimal filter that provides an effective solution to this multi-measurement association and filtering problem.