CAJ | 학술논문

在实际的多传感器系统中，由于各种传感器具有不同的采样率，预处理时间，以及数据通信延迟，因而会出现多个传感器量测不同步到达融合中心的现象。进一步地，当较早时刻产生的量测在较晚时刻产生的量测之后到达融合中心时，无序量测问题就出现了。针对离散时间非线性系统，提出基于统计线性化固定点平滑器的最佳统计线性化无序量测算法，它可以处理单步和两步延迟（甚至多步）无序量测，且能达到与重新滤波法相同的估计精度。
재실제적다전감기계통중，유우각충전감기구유불동적채양솔，예처리시간，이급수거통신연지，인이회출현다개전감기량측불동보도체융합중심적현상。진일보지，당교조시각산생적량측재교만시각산생적량측지후도체융합중심시，무서량측문제취출현료。침대리산시간비선성계통，제출기우통계선성화고정점평활기적최가통계선성화무서량측산법，타가이처리단보화량보연지（심지다보）무서량측，차능체도여중신려파법상동적고계정도。
In a practical multi-sensor system,various sensors have different sampling rates, pretreatment time,and data communication delay,thus resulting in the phenomenon that a lot of sensor measurements don’t arrive at the fusion center synchronously. Further,when the measurements generated at an earlier moment arrive at the fusion center after the measurements generated at a later time,the OOSM issue occurs. For the discrete -time nonlinear systems,the optimal statistically linearized OOSM algorithm based on the statistically linearized fixed-point smoother which can deal with single-step delay OOSMs and double-step delay OOSMs and have the same accuracy with the re-filtering algorithm.