多传感器滤波跟踪型数据融合算法研究

针对非线性观测的目标跟踪问题，对滤波跟踪型数据融合进行了研究，提出了基于去偏转换测量值卡尔曼滤波算法的非线性系统中的数据融合算法．从仿真结果可以看出，集中式融合算法和分布式融合算法的差别并不大，结果基本相同．因此，在非线性系统中，基于去偏转换测量值卡尔曼滤波算法的分布式融合算法可以重构集中式融合算法．

Filtering Fusion Algorithm for Multi-sensor Target Tracking

A fusion algorithm in nonlinear system based on converted measurement Kalman Filer with Debiasing is put forward for radar target tracking, The result of simulation shows that the difference between the result of centralized converted measurement Kalman Filtering and the result of distributed converted measurement Kalman Filtering and the result of distributed converted measurement Kalman Filtering is small. So it is concluded that in monlinear systems distributed fusion algorithm based on converted measurement Kalman Filtering can basically reconstruct a centralized fusion algorithm.