Asynchronous Multisensor Data Fusion Based on Minimum Trace of Error Covariance

Due to the reasons of sensors in itself and the communication delays, the research of the asynchronous multisensor data fusion problem is more practical than that of synchronous sensors. Based on minimizing the trace of the fusion error covariance, the asynchronous multisensor data fusion algorithm is presented. The multisensor track fusion is valid for asynchronous sensors as well as synchronous sensors. The algorithm makes up for the drawback that asynchronous fusion is limited to sensor-to-sensor data fusion. Significantly, the generalized multisensor asynchronous sensor fusion model is established. The analyse of algorithm in the theoretical deduction is presented. The format of algorithm is concise and applicable. Finally, simulation results show the asynchronous multisensor fusion is effective and the performance of the algorithm is superior to that of single sensor