Nonlinear information fusion algorithm of asynchronous multi-sensor based on CKF

Multi-sensor information fusion algorithm can improve accuracy of the system utilizing redundant information; however, the existence of asynchrony will increase algorithm error. Though most sensors are assumed to be linear that is not true in practice. So it is important to develop nonlinear asynchronous multi-sensor information fusion algorithm. A new approach based on CKF, which takes the nonlinear property of sensors into account, is proposed. This new nonlinear asynchronous multi-sensor information fusion algorithm in which multi-sensor information maps to the fusion centre to process data can solve the asynchronous problem. Simulation results show that the RMSE of systemic states are much smaller with this method as compared with that of method using single-sensor data. Furthermore, compared with existing fusion algorithm based on UKF, higher accuracy can be obtained by this new proposed solution.