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多传感器目标跟踪系统中,各传感器量测周期的不同导致局部量测或估计到达融合中心的时间不同步。使用航迹融合和卡尔曼滤波方法,各局部传感器在共享融合中心数据的基础上进行独立滤波估计,融合中心根据各局部航迹插值对准进行融合,提出了一种适合于任意多传感器速率构成的异步环境跟踪的方法。实验仿真结果表明,该方法能够很好地完成异步环境的目标跟踪任务,跟踪效果明显好于各局部传感器。
In the multisensor target tracking system, the difference of the measuring cycle of each sensor leads to the asynchronous measurement or estimation of the arrival time in the fusion center. Using the method of track fusion and Kalman filter, each local sensor performs independent filtering estimation based on the data of the shared fusion center, and the fusion center conducts the fusion according to the local track interpolation alignment. A method is proposed that is suitable for any multi-sensor rate composition Asynchronous environment tracking method. Experimental results show that this method can well accomplish the target tracking task of asynchronous environment, and the tracking effect is obviously better than that of local sensors.