Multi-Sensor Fractional Order Information Fusion Suboptimal Filter with Time Delay

A distributed weighted fusion fractional order filter is proposed for multi-sensor multi-delay fractional order systems. Firstly, the time-delay system is transformed into a non-time-delay system using the state augmentation method, and the optimal augmented fractional Kalman filter is derived. Secondly, in order to reduce the computational burden, a suboptimal fractional order Kalman filter is presented. Compared with the optimal augmented method, it greatly reduces the computational complexity, which is convenient for real-time applications. Then, in order to derive the weighting coefficient for distributed fusion, the calculation formula of filtering error variance matrix between any two sensor subsystems is derived. Finally, the distributed weighted fusion fractional order filter is presented. It is local optimal and globally suboptimal: compared with each local filter, it has higher accuracy; compared with the centralized fusion filter, it has lower accuracy and more fault tolerance. In summary, it is more suitable for practical application. Simulation results verify the effectiveness of the proposed algorithm.