کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
528290 869550 2013 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
The accuracy comparison of multisensor covariance intersection fuser and three weighting fusers
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر چشم انداز کامپیوتر و تشخیص الگو
پیش نمایش صفحه اول مقاله
The accuracy comparison of multisensor covariance intersection fuser and three weighting fusers
چکیده انگلیسی

For multisensor systems with exactly known local filtering error variances and cross-covariances, a covariance intersection (CI) fusion steady-state Kalman filter without cross-covariances is presented. It is rigorously proved that it has consistency, and its accuracy is higher than that of each local Kalman filter and is lower than that of the optimal Kalman fuser with matrix weights. Under the unbiased linear minimum variance (ULMV) criterion, it is proved that the accuracy of the fuser with matrix weights is higher than that of the fuser with scalar weights, and the accuracy of the fuser with diagonal matrix weights is in between both of them, and the accuracies of all three weighting fusers and the CI fuser are lower than that of centralized Kalman fuser, and are higher than that of each local Kalman filter. The geometric interpretations of the above accuracy relations are given based on the covariance ellipsoids. A Monte-Carlo simulation example for tracking system verifies correctiveness of the proposed theoretical accuracy relations, and shows that the actual accuracy of the CI Kalman fuser is close to that of the optimal Kalman fuser, so that it has higher accuracy and good performance. When the actual local filtering error variances and cross-covariances are unknown, if the local filtering estimates are consistent, then the corresponding robust CI fuser is also consistent, and its robust accuracy is higher than that of each local filter.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Information Fusion - Volume 14, Issue 2, April 2013, Pages 177–185
نویسندگان
, , , , , ,