The federated filtering algorithm based on the asynchronous multisensor system

This paper is concerned about the asynchronous multisensor dynamic system and an asynchronous fusion algorithm is proposed, which is depended on the federated Kalman filter. Each sub filter is updated on the rate that is associated with the local sensors. Then outputs of sub filters are propagated to the next fusion time. These propagated values are to be combined with the time update value of the main filter and the fusion results are fed back to each sub filter. This algorithm effectively solves the problem that sub filters may not able to provide data to be fused at the fusion time for the asynchronous sensor system. The detailed process of the new algorithm is introduced. The simulation results for the satellite autonomous navigation system is given to demonstrate its validity.