Low-complexity Fusion Filtering for Continuous-Discrete Systems

In this paper, low-complexity distributed fusion filtering algorithm for mixed continuous-discrete multisensory dynamic systems is proposed. To implement the algorithm a new recursive equations for local cross-covariances are derived. To achieve an effective fusion filtering the covariance intersection (CI) algorithm is used. The CI algorithm is useful due to its low-computational complexity for calculation of a big number of cross-covariances between local estimates and matrix weights. Theoretical and numerical examples demonstrate the effectiveness of the covariance intersection algorithm in distributed fusion filtering.