Combined method of uncertain measurement fusion

In multi-sensor system itpsilas difficult to construct observation vector and covariance matrix appropriately when availability of measurement is uncertain. A measurement fusion method for uncertain measurement was presented to resolve the problem. By defining availability function for components of each observation vector, uncertainty of measurement could be expressed, and observation vectors and covariance matrices were generalized to uncertain circumstance. Combining generalized observation vectors based on a minimum-mean-square-error criterion to construct equivalent measurement of Kalman filter, optimal fusion result of uncertain measurement was obtained and current measurement fusion algorithm was generalized. Simulation results show that method presented can deal with the multi-sensor measurement fusion of uncertain availability correctly, and calculational cost is almost as same as one of current algorithm.