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An efficient algorithm for multisensor track fusion

机译：一种高效的多传感器航迹融合算法

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摘要

An efficient algorithm for track-to-track fusion by incorporating cross-covariance between tracks created by dissimilar sensors is described. An analytical solution of this problem is complicated if cross-correlation between sensors tracking the same target is taken into account. An explicit solution of the cross-covariance matrix at steady state is derived in terms of an integral. It is shown that solution of this integral involves inversion of a matrix whose elements are functions of parameters of individual trackers. Structure of this matrix is analyzed. An efficient analytical solution for inversion of this matrix is obtained. For fusion of similar sensors, it is shown that this matrix is reduced to the Routh-Hurwitz matrix which arises in the study of steady state stability of linear systems. Numerical results showing the amount of reduction of fused track covariance by taking into account the effects of cross-correlation between candidate tracks for fusion is also presented
机译：描述了一种有效的算法，该算法通过合并由不同传感器创建的轨道之间的互协方差来进行轨道间融合。如果考虑到跟踪同一目标的传感器之间的互相关，则此问题的解析解决方案将很复杂。根据积分推导了稳态下互协方差矩阵的显式解。结果表明，该积分的解决方案涉及矩阵的求逆，其元素是各个跟踪器的参数的函数。分析该矩阵的结构。获得了该矩阵求逆的有效解析解。对于相似传感器的融合，表明该矩阵被简化为Routh-Hurwitz矩阵，该矩阵出现在线性系统稳态稳定性的研究中。数值结果显示了融合轨迹协方差的减少量，其中考虑了候选融合轨迹之间的互相关效应

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