多傳感器異步數(shù)據(jù)融合算法
Asynchronous Multisensor Data Fusion
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摘要: 由于傳感器的采樣速率和通信延遲，傳感器的不同步問題大大降低了多傳感器系統(tǒng)數(shù)據(jù)融合的精度。研究多傳感器異步融合比同步數(shù)據(jù)融合更為迫切。該文利用誤差協(xié)方差陣的跡最小準(zhǔn)則建立了多傳感器異步融合模型，給出了具有普遍意義的多傳感器異步融合模型，彌補(bǔ)了目前多傳感器異步數(shù)據(jù)融合僅限于兩兩傳感器的局限性，并從理論上對(duì)多傳感器異步融合的性能進(jìn)行了分析。仿真結(jié)果表明該異步融合模型是有效的，能夠?qū)Χ鄠鞲衅鞯漠惒綌?shù)據(jù)進(jìn)行優(yōu)化處理，并且優(yōu)于單一傳感器的性能。
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關(guān)鍵詞:
- 多傳感器;異步;數(shù)據(jù)融合;跡
Abstract: 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 one. Based on minimizing the trace of the fusion error covariance matrix, 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 one-one sensors fusion. Significantly, the extensive 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 mulitsensor fusion is effective and the performance of the model is superior to that of single sensor. -
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