Data Fusion for Several Kalman Filters tracking a Single target

Atherton, D P and Bather, J A (2005) Data Fusion for Several Kalman Filters tracking a Single target. Target Tracking 2004: Algorithms and Applications, 152 (5). pp. 372-376. ISSN 1350-2395

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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.

Item Type: Article
Additional Information: 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.
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Derek Atherton
Date Deposited: 06 Feb 2012 20:03
Last Modified: 25 Jun 2012 13:56
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