Title :
Data fusion for several Kalman filters tracking a single target
Author :
Atherton, D.P. ; Bather, J.A.
Author_Institution :
Sch. of Sci. & Technol., Sussex Univ., Brighton, UK
Abstract :
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.
Keywords :
Kalman filters; filtering theory; least mean squares methods; parameter estimation; sensor fusion; target tracking; tracking filters; Bar-Shalom formula; Kalman filters; data fusion; minimum mean square estimation; target tracking; tracking filters;
Conference_Titel :
Target Tracking 2004: Algorithms and Applications, IEE
Print_ISBN :
0-86341-397-8
DOI :
10.1049/ic:20040053
