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Data Fusion for Several Kalman Filters tracking a Single target
journal contribution
posted on 2023-06-08, 04:49 authored by D P Atherton, J A BatherThe 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.
History
Publication status
- Published
Journal
Target Tracking 2004: Algorithms and ApplicationsISSN
1350-2395External DOI
Issue
5Volume
152Page range
372-376Pages
5.0Department affiliated with
- Engineering and Design Publications
Notes
The work on data fusion for target tracking reported on, was funded by EPSRC and BAE Systems. The work, which included theoretical and simulation studies, was concerned with investigating the accuracy of an approximate formula given in the literature for fusing estimates from Kalman filters. It was shown that in using the formula the loss in accuracy when compared with the least mean squares estimator was small. The simplicity of the formula meant it was the most appropriate approach to use in practice, where for example, filter modelling errors could have a much more significant effect.Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2012-02-06Usage metrics
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