Multisensor Estimation Fusion of Nonlinear Cost Functions in Mixed Continuous-Discrete Stochastic Systems

<table>MSEs of fusion estimators for quadratic cost function <svg height="16.174999" id="M178" style="vertical-align:-0.17555pt" version="1.1" viewbox="0 0 42.8125 16.174999" width="42.8125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,15.775)"><path d="M475 445l-64 -69q-119 -128 -289 -280q27 6 81 -15q66 -26 102 -26q48 0 111 93l23 -19q-41 -84 -75.5 -116.5t-73.5 -32.5q-37 0 -147 53q-43 21 -63 7q-22 -15 -38 -41q-4 -7 -11 -7q-8 10 -8 26q0 38 47 83l292 273q-32 -5 -67 -1q-63 7 -105 7q-32 0 -53.5 -22
t-47.5 -67l-25 13q15 39 38 78q40 66 83 66q57 0 120 -12q52 -10 80 -10q29 0 67 42z" id="x1D467"></path></g><g transform="matrix(.017,-0,0,-.017,13.237,15.775)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,27.94,15.775)"><path d="M475 507q0 -83 -20 -172t-56 -167.5t-93.5 -129t-125.5 -50.5q-157 0 -157 227q0 78 21.5 164t59 161t96.5 123.5t126 48.5q79 0 114 -58t35 -147zM391 522q0 155 -81 155q-62 0 -111 -82.5t-73 -200.5h253q12 81 12 128zM373 346h-255q-12 -91 -12 -150q0 -72 20 -123
t63 -51q34 0 64 28.5t52.5 77t39 103t28.5 115.5z" id="x1D703"></path></g>
<g transform="matrix(.012,-0,0,-.012,36.412,7.613)"><path d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" id="x32"></path></g>
</svg>.</table>

Mathematical Problems in Engineering

fig1

Figure 1

Figure 1: Multisensor Estimation Fusion of Nonlinear Cost Functions in Mixed Continuous-Discrete Stochastic Systems 