Fusion estimation for state-saturated multi-rate systems with integral measurement and sensor resolution

In this paper, the fusion estimation problem is studied for a class of multi-rate systems (MRS) subject to state saturation. The state update rate of the system and the sampling rate of sensors are different in MRS. In addition, to incorporate the requirements of actual engineering practice, the sensor resolution and the phenomenon of integral measurements are considered in the measurement output of sensors. The aim of this paper is to design an appropriate set of local estimators for each sensor node by taking into account the effects of integral measurement, sensor resolution and multi-rate sampling mechanism. Then, the upper bound on the error covariance of the estimator can be obtained by calculating solution of the matrix difference equation and the relevant filter parameter is determined by minimizing the upper bound. Based on the covariance intersection (CI) method, the fusion estimation is obtained by fusing local estimates. The consistency is demonstrated for this fusion estimating approach. Finally, the effectiveness and appropriateness of the multi-rate fusion estimation approach are confirmed by comprehensive simulations.