异类传感器融合跟踪的等效传感器方法

Fusion Tracking Method Based on Equivalent Sensor for Dissimilar Sensors

为了提高多个异类传感器构成的集中式融合跟踪系统的计算性能,提出一种基于等效传感器的融合跟踪方法。该方法假定各局部传感器能观测目标的全部属性,将其中实际不能观测的属性视为被剔除的野值,利用融合中心的目标状态估计进行重构,实现将维数不同的各异类传感器的量测映射成系统观测空间中维数相同的等效传感器量测。这样便可采用数据压缩滤波方法克服现有集中式融合跟踪方法的局限,降低计算量。实验结果表明,文中方法的跟踪精度与现有的并行滤波融合跟踪方法一致,但计算量更低且基本不随传感器数量的增加而增大。

To improve calculation performance of centralized target tracking system which consists of multiple dissimilar sensors, a fusion tracking method based on equivalent sensor was presented. It was assumed in the method that all characteristics of a target could be observed by each local sensor, and characteristics which could not be observed actually were treated as outlier and reconfigured by using state estimate of the target from fusion center, and then measurements with different dimensions from dissimilar sensors were mapped to corresponding measurements of equivalent sensors on system observation space with same dimensions. Therefore, combined measurement filtering method could be adopted to overcome the shortcomings of current centralized fusion tracking method and reduce calculation costs. Experiment results show that tracking accuracy of the method presented is consistent with that of current method, but calculation cost is lower than that of the latter and hardly increases with the amount of sensors.