过程噪声对融合航迹性能的影响

Effect of the Common Process Noise on Performance of Two-sensor Fused-track

本文研究动态系统过程噪声对航迹统计距离和状态融合估计性能的影响。由过程噪声产生的航迹互协方差矩阵的运算量较大,甚至占到航迹融合总运算量的一半,所以在实现系统时应尽量避免互协方差矩阵的在线计算。文中估计并比较了互协方差矩阵、统计距离及状态融合估计的运算量,仿真研究了观测噪声对航迹统计距离和状态融合估计性能的影响。仿真结果表明在过程噪声较小而对融合航迹性能的影响有限时,可考虑忽略过程噪声的影响,这样将大大降低运算量,反之则不能忽略。

This paper presents the effect of the common process noise on track statistical distance and performance of state estimation fusion. Because of great computational load on cross-covariance matrix produced by process noise, indeed, which is a half of total computational load, thus real-time computation of cross-covariance matrix is avoided in system implementation. First, computational load on cross-covariance matrix, track statistical distance, and state estimation fusion is estimated and compared. And the effect of the common process noise on track statistical distance and performance of state estimation fusion is simulated. Simulation result shows that in the case of less process noise, cross-covariance matrix can be neglected, whereas it cannot.