Sub-Optimal Sensor Scheduling With Error Bounds
| Authors: | Alriksson Peter, Lund Institute of Technology, Lund University, Sweden
Rantzer Anders, Lund Institute of Technology, Lund University, Sweden |
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| Topic: | 4.1 Components and Instruments |
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| Session: | Intelligent Components and Instruments |
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| Keywords: | Sensor fusion, Sequences, Estimation, Dynamic Programming, Hybrid Modes |
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Abstract
In this paper the problem of sub-optimal sensor schedulingwith a guaranteed distance to optimality is considered. Optimal in thesense that the sequence that minimizes the estimation error covariancematrix for a given time horizon is found. The search is done usingrelaxed dynamic programming. The algorithm is then applied to onesimple second order system and one sixth order model of a fixedmounted model lab helicopter.
