中文说明：
由于传感器自身以及通信延迟等原因,使得异步多传感器数据融合问题比同步问题的研究更切合实际。对连续时间系统在融合中心和各传感器节点分别进行异步离散化处理,离散后过程噪声与测量噪声以及测量噪声之间相关,虽然相应连续时间系统中的噪声是不相关的。最后推导了相关噪声情况下的异步融合算法,仿真结果说明了算法的有效性。
English Description：
Because of the sensor itself and communication delay, the research of asynchronous multi-sensor data fusion is more practical than that of synchronization. The continuous time system is discretized asynchronously at the fusion center and each sensor node respectively. After discretization, the process noise is correlated with the measurement noise and the measurement noise, although the noise in the corresponding continuous time system is uncorrelated. Finally, the asynchronous fusion algorithm in the case of correlated noise is derived, and the simulation results show the effectiveness of the algorithm.