Data fusion for several Kalman filters tracking a single target
Data fusion for several Kalman filters tracking a single target
- Author(s): D.P. Atherton and J.A. Bather
- DOI: 10.1049/ic:20040053
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- Author(s): D.P. Atherton and J.A. Bather Source: Target Tracking 2004: Algorithms and Applications, 2004 p. 63 – 69
- Conference: Target Tracking 2004: Algorithms and Applications
- DOI: 10.1049/ic:20040053
- ISBN: 0 86341 397 8
- Location: Brighton, UK
- Conference date: 23-24 March 2004
- Format: PDF
The paper examines the accuracy of the Bar-Shalom formula for computing the fused estimate from two filters, tracking a single target with the exact minimum mean square estimator. It is shown that the errors are 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.
Inspec keywords: filtering theory; Kalman filters; least mean squares methods; parameter estimation; tracking filters; sensor fusion; target tracking
Subjects: Filtering methods in signal processing; Interpolation and function approximation (numerical analysis)
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