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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 Bather
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.

History

Publication status

  • Published

Journal

Target Tracking 2004: Algorithms and Applications

ISSN

1350-2395

Issue

5

Volume

152

Page range

372-376

Pages

5.0

Department 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

2012-02-06

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