反馈式异步多传感器目标跟踪航迹融合

A new asynchronous multi-sensor track fusion filter with feedback for target tracking

传感器信息融合一直以来被认为是改进目标跟踪的一种有效手段。一般的做法是假设所有传感器是同步的,但是这样的假设在实际系统中常常是难以做到的。本文在考虑多传感器目标跟踪时,不依赖于同步假设,即允许各传感器使用不同的采样频率,允许传感器平台与处理中心存在交流延迟等,提出了一种新的基于局部融合跟踪和全局融合跟踪的处理方案。该方案是在分布式融合的基础上,融合处理可以发生在融合区间内的任意时刻。

Sensor data fusion is recognized as a means to improve target tracking. Common practice assumes that the sensors used are synchronous. Such assumptions are invalid in practice. This paper deals with removing such assumptions when considering the muhisensor target tracking case. In particular, it assumes that the sensors used can have different data rates and communication delays between local and central platforms. A two level processing approach is taken with both local anti global processing levels in this paper. The solution is based on a distributed approach; the fusion process can occur at any time in the interval between a fusion interval.