Centralized and distributed robust state fusion estimation

Abstract

The study of robust state estimation for uncertain multisensor system is an important field of multisensor fusion estimation theory. Based on robust filtering theory, this paper develops polytopic models and centralized robust fusion estimation of uncertain multisensor system by linear matrix inequality (LMI) method, and proves the exact transforming condition, by which robust centralized estimate can be transformed to the distributed fusion method with the same fusion estimate performance. Finally, an example is given to illustrate the estimation approach for the uncertain multisensor system.