The fusion estimation problem for a class of multi-rate systems (MRS)
subject to state saturation is examined in this paper. varying sensors
have varying sensor sampling rates (SSRs), and in MRS, the system’s
status update rate (SUR) and the SSR can differ from one another. In
addition, to incorporate the requirements of actual engineering
practice, the measurement output of sensors is influenced by the sensor
resolution and the phenomenon of integral measurements. The aim of this
paper is to design an appropriate set of local estimators for each
sensor node, taking into account the effects of integral measurement,
sensor resolution and multi-rate sampling mechanism. Then, Design of the
upper bound on the error covariance of the estimator can be obtained by
solution of the matrix difference equation, and the relevant filter
parameter is determined by minimizing the obtained upper bound. For
local state estimation, an acceptable fusion estimating approach based
on the covariance intersection (CI) method is given, and its consistency
is demonstrated. Lastly, the effectiveness and appropriateness of the
suggested multi-rate fusion estimation approach are confirmed by a
simulated example.