Measurement fusion algorithm for dissimilar sensors based on equivalent sensor

To reduce calculational cost of measurement fusion of centralized multiple dissimilar sensor system, defect of measurement augmented method causing high calculational cost is analyzed, and the measurement fusion problem of dissimilar sensors is ascribed to the one of observation vectors with unequal dimensions. Then the conception of equivalent sensor and a measurement fusion method based on it is presented. By appending invalid elements to each original observation vectors, the equivalent sensors corresponding to original dissimilar sensors are constructed, so that equivalent sensors having same dimension could be fused and filtered using measurement combined method. In this way, the restriction of measurement combined method was overcome and the calculational cost of measurement fusion of dissimilar sensors is reduced. Simulation results show that this method has lower calculational cost than measurement augmented method, and the performance doesn´t vary with the amount of sensors.