加权融合法处理无序量测问题
Computer Engineering and Applications（2012）
Abstract
针对集中式多传感器目标跟踪系统中存在的无序量测问题,基于协方差加权融合的思想,在融合估计误差协方差矩阵迹最小意义下,建立了基于最优融合的多步延迟无序量测更新算法.该算法先将无序量测配准到最新状态估计的时刻,将其与之进行协方差加权融合.为进行无序量测与各传感器量测噪声相关性的计算,引入了等效量测.通过理论分析和仿真实验说明该算法能有效处理无序量测多延迟问题,其性能接近最优且随延迟步数增加性能下降非常小,而且有与最优的数据缓存法相同的滤波精度,以及较小的额外存储量.
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Key words
equivalent measurement,data fusion,out-of-sequence-measurement,multiple-step delay,covariance weighting
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