Distributed cubature smooth variable structure fusion algorithm with model uncertainties and cross-correlation noise
JIAO Yu-zhao
NIU Jian-xiong
ZHAO Hong-mei
LOU Tai-shan
ZHAO Liang-yu
DING Guo-qiang
KONG Han
Abstract：The state estimation for multi-sensor nonlinear systems with model parameters uncertainty and correlated noise is considered.Firstly,a new cubature smooth variable structure filter with model uncertainty and correlation noise is proposed.Secondly,a general cross-covariance framework of any local estimators is derived for multi-sensor systems with correlated noise,and the nonlinear integral is calculated by Cubature rule.Then,based on matrix weighting,the distributed Cubature smooth variable structure fusion algorithm is proposed for multi-sensor nonlinear systems with model parameters uncertainty and correlation noise.Finally,the simulation results show that the proposed algorithms can effectively overcome the interference of model parameters uncertainties and correlation noise,and also have higher estimation accuracy.
Keywords：smooth variable structure filtermodel parameters uncertaintiescross-correlation noisedistributed fusionsystem identification and modelling
Publication Date：2025-10-30
Online Publishing Date：2025-11-13(First online date of this platform, not the publication date of the document)
Pages：11( 1999-2009 )