A Kalman filter for linear continuous-discrete systems with asynchronous measurements

Aïda Feddaoui , Nicolas Boizot (1) , Eric Busvelle (1, 2, 3) , Vincent Hugel (4)

1 LSIS - Laboratoire des Sciences de l'Information et des Systèmes
2 CDE - Contrôle et Diagnostic pour l’Environnement
3 UTLN - Université de Toulon -IUT de Toulon
4 COSMER - Laboratoire Conception de Systèmes Mécaniques et Robotiques - EA 7398

This paper investigates an adaptation of the Kalman filter for linear continuous-discrete system with multi-rate sampled outputs. The contribution of this article is twofold. First, we prove the exponential convergence of this observer through the existence of bounds for the Riccati matrix. Second, we highlight a technical point that allows us, under certain conditions on the sampling procedure, to prove the stability of the Riccati equation, and show that observability is preserved under multi-rate sampling. An example with two sensor outputs is given for illustration. This study can lead to applications in mobile robotics where sensors produce outputs at different rates and asynchronously.

Domaines: Automatique

Aïda Feddaoui, Nicolas Boizot, Eric Busvelle, Vincent Hugel. A Kalman filter for linear continuous-discrete systems with asynchronous measurements. 2017 IEEE 56th Annual Conference on Decision and Control (CDC), Dec 2017, Melbourne, Australia. pp.2813-2818, ⟨10.1109/CDC.2017.8264068⟩. ⟨hal-01701832⟩