A Particle Filter Update Algorithm Based on out of Sequence Measurement

Consider out of sequence measurement (oosm) estimation problem in central tracking system of multi-sensor distributed data fusion, which is due to the communication delay. Apply the particle filter algorithm to overcome this problem and propose a update algorithm for the case of an arbitrary (multi-step) lag in case of nonlinear. Then we compare this algorithm with the known EKF oosm algorithm. Results demonstrate the feasibility and effectiveness of this algorithm.