Handling Data Uncertainty and Inconsistency Using Multisensor Data Fusion

Algorithm 2

The postfiltering algorithm (MB-F).

   Input: 𝜎₁, 𝜎₂, 𝑧₁(𝑘), 𝑧₂(𝑘), 𝑥_𝑓(𝑘−1), 𝑃_𝑓(𝑘−1)

   Output: 𝑥_𝑓(𝑘), 𝑃_𝑓(𝑘)

1  begin

2     𝜉←𝜎₁/𝜎₂;

3    𝑥_int(𝑘)←𝑧₁(𝑘)/(1+𝜉²)+𝑧₂(𝑘)/(1+𝜉⁻²);

4    Calculate   𝑓 as in (6);

5  𝜎²_int(𝑘)←(𝜎₁⁻²𝑓⁻¹+𝜎₂⁻²𝑓⁻¹)⁻¹;

6    (𝑥_𝑓(𝑘),𝑃_𝑓(𝑘)) ← Call Kalman Filter Algorithm;