【摘要】 为了解决多传感器环境下各传感器观测的有效性具有时变不确定性时,难以恰当地构造系统观测向量与观测矩阵的困难,提出一种不确定性观测向量的量测融合算法。该方法对现有并行滤波量测融合估计算法进行推广,为各传感器观测向量的每一维定义其有效度函数,来构造能表示量测不确定性的广义观测向量以及广义误差方差阵,获得形式上的有效量测,就可以利用现有的量测融合方法获得最优融合估计。为了便于数值计算,同时给出一种次优的融合估计算法。实验结果表明,文中方法能适应量测有效性时变情况下的多传感器量测融合估计,且计算量与现有确定性量测的融合估计方法基本相同。更多还原

【Abstract】 In multi-sensor environment when availability of measurement is uncertain,it is difficult to construct uniform global observation vector and observation matrix appropriately.To resolve the problem,a measurement fusion algorithm for uncertain measurement was presented.By defining availability function for each dimension of observation vectors to construct generalized observation vectors and covariance matrixes,the uncertainty of measurement was expressed,and formal valid measurement was obtained.The existing measurement fusion algorithm of parallel filtering was then generalized to uncertain scenario,and optimal fusion result can be obtained.To be convenient for numerical calculation,a suboptimal algorithm was put forward also.Simulation results showed that the method presented can deal with the multi-sensor measurement fusion of uncertain availability correctly and calculational cost is almost as the same as one of existing algorithm for certain measurement.更多还原