Title :
Comparison of multi-sensor fusion filters weighted by scalars and matrices
Author :
Lee, Seok Hyoung ; Kim, Du Yong ; Nguyen, Nga-Viet ; Shin, Vladimir
Author_Institution :
Gwangju Inst. of Sci. & Technol., Gwangju
Abstract :
Two fusion formulas with scalar and matrix weights are presented. The statistical relationship between them is established. They are compared on the multi-sensor Kalman filtering problem. The basic equation for cross-covariance of the local Kalman estimates being the key quantity for distributed fusion is derived. Examples demonstrating the desirable accuracy of the proposed fusion filters are given.
Keywords :
Kalman filters; covariance matrices; filtering theory; sensor fusion; cross-covariance equation; matrix weights; multisensor Kalman filtering problem; scalar weights; Automatic control; Automation; Control systems; Electromagnetic measurements; Equations; Filtering; Infrared sensors; Kalman filters; Mechatronics; Optical sensors; Kalman filtering; fusion formula; mean-square error; multi-sensor;
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
DOI :
10.1109/ICCAS.2007.4406899
