Journal ArticleDOI
Comparison of two-sensor tracking methods based on state vector fusion and measurement fusion
J.A. Roecker,C.D. McGillem +1 more
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In this article, two approaches to the two-sensor track-fusion problem are compared and an example shows the amount of improvement in the uncertainty of the resulting estimate of the state vector with the measurement fusion method.Abstract:
There are two approaches to the two-sensor track-fusion problem. Y Bar-Shalom and L. Campo (ibid., vol.AES-22, 803-5, Nov. 1986) presented the state vector fusion method, which combines state vectors from the two sensors to form a new estimate while taking into account the correlated process noise. The measurement fusion method or data compression of D. Willner et al. (1976) combines the measurements from the two sensors first and then uses this fused measurement to estimate the state vector. The two methods are compared and an example shows the amount of improvement in the uncertainty of the resulting estimate of the state vector with the measurement fusion method. >read more
Citations
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Journal ArticleDOI
Comparison of two measurement fusion methods for Kalman-filter-based multisensor data fusion
Q. Gan,Chris Harris +1 more
TL;DR: In this paper, two commonly used measurement fusion methods for Kalman-filter-based multisensor data fusion are analyzed. And the authors show that they are functionally equivalent if the sensors used for data fusion, with different and independent noise characteristics, have identical measurement matrices.
Journal ArticleDOI
On optimal track-to-track fusion
TL;DR: A performance evaluation technique is proposed to study the performance of various track-to-track fusion techniques and the results provide performance bounds of different techniques under various operating conditions which can be used in designing a fusion system.
Journal ArticleDOI
Secure Fusion Estimation for Bandwidth Constrained Cyber-Physical Systems Under Replay Attacks
TL;DR: The secure distributed Kalman fusion estimation problem is investigated in this paper for a class of CPSs under replay attacks, where each local estimate obtained by the sink node is transmitted to a remote fusion center through bandwidth constrained communication channels.
Journal ArticleDOI
Performance limits of track-to-track fusion versus centralized estimation: theory and application [sensor fusion]
TL;DR: An approximate track-to-track fusion is presented and compared with the optimal track- to- track fusion with performance curves for various numbers of sensors, which can be used in designing a fusion system where certain trade-offs need to be considered.
Journal ArticleDOI
Sequential covariance intersection fusion Kalman filter
TL;DR: A fast sequential covariance intersection (SCI) Kalman filtering algorithm is presented in this paper, which only requires to solve the optimization problem of several one-dimensional nonlinear cost functions.
References
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Journal ArticleDOI
The Effect of the Common Process Noise on the Two-Sensor Fused-Track Covariance
Yaakov Bar-Shalom,Leon Campo +1 more
TL;DR: In this paper, the effect of the common process noise on the fusion of the state estimates of a target based on measurements obtained by two different sensors is examined in a multisensor environment where each sensor has its information processing (tracking) subsystem.
Journal ArticleDOI
On the track-to-track correlation problem
TL;DR: In this article, the authors considered the testing of the hypothesis whether two tracks represent the same target and presented a test that includes their correlation. But they assumed that the estimates of the target's state from two track files are uncorrelated.
Proceedings ArticleDOI
Computation and transmission requirements for a decentralized linear-quadratic-Gaussian control problem
TL;DR: A decentralized control problem involving K nodes is formulated, and it is shown that if the dimension of the controls at each node l is less than both the dimensions of the data at node m and thedimension of the state, then a data vector can be transmitted from m to l.
Journal ArticleDOI
The Tracking Index: A Generalized Parameter for α-β and α-β-γ Target Trackers
TL;DR: In this paper, the tracking index, a generalized parameter proportional to the ratio of the position uncertainty due to the target maneuverability to that due to sensor measurement, is presented for the target tracking problem.
Journal ArticleDOI
Combining and updating of local estimates and regional maps along sets of one-dimensional tracks
TL;DR: In this article, the problem of combining and updating estimates that may have been generated in a distributed fashion or may represent estimates, generated at different times, of the same process sample path is considered.
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