Title :
Data fusion for several Kalman filters tracking a single target
Author :
Atherton, D.P. ; Bather, J.A. ; Briggs, A.J.
Author_Institution :
Sch. of Sci. & Technol., Univ. of Sussex, Brighton, UK
fDate :
10/1/2005 12:00:00 AM
Abstract :
The work described in the paper examines the accuracy of the Bar-Shalom formula for computing the fused estimate from two filters tracking a single target and compares it with the optimal least squares estimator. It is shown that the increase in mean square error is small and that the simplicity of the Bar-Shalom formula makes it appropriate to use. Simulation results on its use for fusing estimates from two and three filters are presented.
Keywords :
Kalman filters; least mean squares methods; sensor fusion; target tracking; tracking filters; Bar-Shalom formula; Kalman filter tracking; data fusion; least squares estimator; mean square error;
Journal_Title :
Radar, Sonar and Navigation, IEE Proceedings -
DOI :
10.1049/ip-rsn:20045054
