多传感器融合目标跟踪

TARGET TRACKING BASED ON FUSION OF MULTI-SENSOR

分析了基于成象和雷达两种传感器对目标状态的测量模型及其融合模型。针对两种传感器之间测量信息的不同步问题，给出了一种基于最小二乘法的不同步信息之间的时间配准和融合方法，并设计了跟踪滤波器。

This paper develops the measuring model of image centroid based on imaging sensor, and then converts it to the angular measuring one. The measuring model based on radar sensor is also presented. The difference between the measuring models of two sensors are considered and the fusion models are studied emphatically. In consideration of the asynchronous problem of data from two sensors, a time aligning between the asynchronous data based on least square technique, and fusion method are presented. A tracking filter is also designed and the simulation results for each case are given, which shows the superior performance of the fusion models.