Fusion Estimation for Multi-sensor Nonlinear System with Disorder and Packet Loss

For a multi-sensor nonlinear system with disorder and packet loss, a fusion estimation algorithm is presented in this paper. Firstly, for equally spaced measurement sampling system, the disorder measurement is sorted by using measurement prediction in the group. Then, for the packet loss case, the lasted measurement is used for filtering. Combining the above proposed algorithm with the centralized Cubature Kalman filter (CKF), a fusion estimation algorithm for multi-sensor nonlinear system with disorder and packet loss algorithm is presented. In the simulation, the proposed algorithm is applied to an indoor positioning system based on ultra-wideband (UWB) with three sensors. The results show the effectiveness of the proposed algorithm.