The effects of delayed sensor requests on sensor manager systems
Lucy Y. Pao, Michael Kalandros · Guidance, Navigation, and Control Conference and Exhibit · 1998
Current multisensor tracking systems can be easily overwhelmed by incoming data, especially as the number of targets and sensors increases. A sensor management scheme has been proposed in previous work to reduce the computational demand of these systems while minimizing the loss of tracking performance by selecting only enough sensing resources to maintain a desired covariance level for each target, reducing the resource demands on the tracking system. However, the proposed system is sensitive to delays in the execution of sensor assignments. This paper analyzes the effect of that delay and examines methods of eliminating that effect. Because of the lack of a closed form solution for the covariance matrix of the discrete-time Kalman filter, the analysis centers on the performance of the continuous-time scalar Kalman-Bucy filter and then extends those results to the discrete-time case. The analysis shows that for all stable systems and unstable systems under certain conditions, the sens...