测量噪声相关情况下的航迹融合和测量融合

Track Fusion and Measurement Fusion in Case of Correlated Measurement Noise

研究了测量噪声相关情况下的航迹融合和测量融合问题,根据线性无偏最小方差估计理论,推导了噪声相关情况下的多传感器跟踪系统的航迹融合和测量融合算法.经Monte Carlo仿真表明,文中给出的考虑噪声相关的航迹融合和测量融合算法的跟踪精度均高于相应的不考虑噪声相关的传统算法,且附加的计算量很小.

The classical fusion algorithm of multi sensors assumes that the measurement noises across the sensors are not correlated, hut it is not true for some practical situation. The track fusion and measurement fusion techniques of multi sensor tracking system in case of correlated measurement noise are studied. Under the condition of correlated measurement noise, the improved algorithms of track fusion and measurement fusion in synchronized multi-sensor system are presented based on the linear unbiased minimum variance estimation theory. The algorithms presented are suited for the situation of both correlated measurement noise and irrelated measurement noise. Monte Carlo simulation shows that the algorithms presented in this paper improve the estimation accuracy evidently with low calculation load added when the measurement noises are correlated.