摘要
在混合式多传感器信息融合系统中,一部分传感器通过处理它们的数据产生局部航迹,另一部分传感器则只提供检测报告,这些航迹和检测报告被传送到融合中心完成航迹融合和组合滤波。本文提出适合于两级混合式多传感器系统的全局最优状态估计解。在这种结构中,融合中心首先需要融合来自L个传感器的局部估计,然后基于其它N-L个传感器的观测,利用Kalman滤波技术依次更新已融合的航迹。本文还考虑了各传感器分布在不同地理位置时的状态估计问题。
In hybrid multisensor systems where a part of sensors processes their data locally to produce local tracks, another part of sensors only provides detection reports, the tracks and detection reports are communicated to a central site where track fusion and composite filtering are performed. This paper presents a globally optimal composite filtering solution for a two-level hybrid multisensor system. It is shown that the fusion center first needs to fuse the local estimates from the L sensors, and then to update recursively the fused track by using a Kalman filter based on the observations of the other N-L sensors. This paper also considers the estimation problems based on the different Cartesian coordinates.
基金
国防科研基金
关键词
信息融合
状态估计
多传感器
航迹融合
组合滤波
Data fusion, State estimation, Multisensor, Track fusion, Composite filtering
