Sequential Fusion for Multirate Multisensor Systems With Heavy-Tailed Noises and Unreliable Measurements

The sequential fusion estimation for multirate multisensor dynamic systems with heavy-tailed noises and unreliable measurements is an important problem in dynamic system control. This work proposes a sequential fusion algorithm and a detection technique based on Student’s $t$ -distribution and the approximate $t$ -filter. The performance of the proposed algorithm is analyzed and compared with the Gaussian Kalman filter-based sequential fusion and the $t$ -filter-based sequential fusion without detection technique. Theoretical analysis and exhaustive experimental analysis show that the proposed algorithm is effective and robust to unreliable measurements. The $t$ -filter-based sequential fusion algorithm is shown to be the generalization of the classical Gaussian Kalman filter-based optimal sequential fusion algorithm.