多传感器信息融合的最优状态估计方差

Optimal State Estimation Covariance of Multisensor Information Fusion

多传感器信息融合位置级融合算法中,测量融合(Measurementfusion)算法是最优的。本文证明了测量融合算法的估计方差由系统的"测量函数"决定。该函数值越大,系统的融合估计方差就越小。仿真说明了以上结论的正确性。

Measurement fusion is an optimal data fusion algorithm.The covariance of measurement fusion is proved to be decided by a function of measurement matrix and measurement noise covariance.The greater the function is,the less covariance measurement fusion can by obtained.At last simulation are presented to verify the theoretical results.