Publica
Hier finden Sie wissenschaftliche Publikationen aus den FraunhoferInstituten. Generalized solution to smoothing and outofsequence processing
 IEEE transactions on aerospace and electronic systems 50 (2014), Nr.3, S.17391748 ISSN: 00189251 ISSN: 15579603 

 Englisch 
 Zeitschriftenaufsatz 
 Fraunhofer FKIE () 
Abstract
The increasing trend toward multisensor systems is driving an interest for distributed tracking algorithms. In such systems, data transmissions with imperfect communication links often lead to varying time delays. The challenge of online processing of delayed data is generally known as the outofsequence (OoS) problem. An exact solution to this problem is given by the accumulated state density (ASD) filter. However, the RauchTungStriebel (RTS) retrodiction(1) is inherently integrated to the ASD approach, so a certain number of states must be updated at each filtering step. In this paper, a generalized form of the ASD filter is presented. In particular, the exact update formula for states that refer to time instants that are older and newer than a given measurement is calculated. As a consequence, OoS data can be processed without applying retrodiction. A novel smoothing scheme is presented that uses the exact crosscovariances of a measurement and a past state without recursion. A numerical evaluation shows that this smoothing scheme is about 25% faster than the RTS equations yet is still exact.