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JOINT STATE AND MEASUREMENT TIME-DELAY ESTIMATION OF NONLINEARSTATE SPACE SYSTEMS
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-3054-6413
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES), Signal Processing.ORCID iD: 0000-0002-2718-0262
2010 (English)In: Proc. ISSPA 2010, IEEE , 2010, 324-328 p.Conference paper, Published paper (Refereed)
Abstract [en]

Sensor fusion algorithms often assume perfect time synchronization of the sensor clocks. In a practical sensor-actuator setup this is often difficult to achieve which in turn can give rise to systematic errors in the sensor fusion. In this article we suggest how the effect of the synchronization error from an unknown static or slowly varying measurement time-delays in a nonlinear state space system can be handled by linearizing the measurement equation in time. Based on the linearization an augmented system is constructed from which the system states and the delays can be jointly estimated. Expressions for the system, measurement, and covariance matrices of the augmented system are derived. Finally, the feasibility of the suggested approach is demonstrated by an example and a Monte-Carlo simulation.

Place, publisher, year, edition, pages
IEEE , 2010. 324-328 p.
Keyword [en]
Delay estimation, state estimation, synchronization, nonlinear systems
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-65267DOI: 10.1109/ISSPA.2010.5605534Scopus ID: 2-s2.0-78650292553ISBN: 978-1-4244-7165-2 (print)OAI: oai:DiVA.org:kth-65267DiVA: diva2:483306
Conference
10th International Conference on Information Science, Signal Processing and their Applications (ISSPA 2010)
Note
© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20120203Available from: 2012-02-03 Created: 2012-01-25 Last updated: 2012-02-08Bibliographically approved

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Skog, IsaacHändel, Peter

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