A Sensor Fusion Method
The sensor fusion method presented in this paper allows one to combine information from different sensors in
continuous time. Continuous-time decentralized Kalman filters (DKF) are used as data fusion devices on local subsystems.
Such a structure gives the flexibility for reconfiguration of a control system. New subsystems can easily be added without
needing any redesign of the whole system. The system does not require a central processor and therefore, in the case of failure
of some local subsystems (each of which includes a local processor, sensors and actuators) the overall system will continue to
work. The simulation results show that the performance of the overall system degrades gracefully even if the sensors of some
subsystems fail or interconnections are broken. Furthermore, local Kalman filters can effectively reduce subsystems and
Index terms - Sensor fusion, Kalman filtering, data communication, interconnected systems.