多传感器异步关联航迹的融合

Asynchronous Suboptimal Fusion of Correlated Target Tracks From Multisensors

异步航迹融合是多传感器多目标跟踪系统的一个重要问题。由于多传感器的采样速率和通信延迟不同,因此为了提高跟踪精度和准确性,融合中心必须进行异步目标航迹融合。在分布式模式下,基于各传感器在Kalman滤波器输出本地目标航迹的基础上,提出了一种融合误差均方差矩阵的迹最小意义下的异步目标航迹融合算法。给出了具体的实现步骤。仿真实验结果表明,这种融合方法是有效的。

Asynchronous fusion of correlated target tracks is an important problem in the multisensormultitarget systems. Because of the different sampling rates and communication delays among sensors, the fusion center should fuse those asynchronous correlated tracks in order to improve the accuracy and veracity of the target tracking. An algorithm of asynchronous correlated track fusion by minimizing the trace of the fusion error covariance matrix is presented based on the sensor tracks from the Kalman filter. The algorithm steps are also provided. Extensive simulation results show the algorithm is effective.