测量噪声相关线性系统异类传感器航迹融合

Tracking Fusion with Dissimilar Sensors for Linear Systems with Correlated Measurement Noises

研究了异类传感器航迹融合问题。在测量噪声相关的条件下,利用线性无偏最小方差估计的基本理论,通过对异类传感器的状态估计采用顺序滤波的方法,得到了相关测量噪声线性系统异类传感器测量融合算法和状态矢量融合算法。计算机数字仿真结果表明,由于考虑了测量噪声之间的相关性,该算法比噪声不相关融合算法具有更好的跟踪性能,航迹跟踪的精度得到了改善。

Tracking fusion with dissimilar sensors, which is a challenge work in multisensor fusion, is studied. Under the condition of general correlated measurement noises, the centralized and distributed tracking fusion question is investigated based on linear unbiased minimum variance estimation theory. The basic algorithms of measurement fusion and state vector fusion are presented in linear system with dissimilar sensors by the way of sequential filtering. These algorithms involve with not only the correlated measurement noises but also the configuration difference in local sensors, so information about multi-sensors fusion is increased. Through a simulation example it is indicated that the results of proposed algorithm is better than that classic ones where the measurement noises and processing noises are assumed to be uncorrelated.