多传感器异步数据融合算法

由于传感器的采样速率和通信延迟，传感器的不同步问题大大降低了多传感器系统数据融合的精度。研究多传感器异步融合比同步数据融合更为迫切。该文利用误差协方差阵的迹最小准则建立了多传感器异步融合模型，给出了具有普遍意义的多传感器异步融合模型，弥补了目前多传感器异步数据融合仅限于两两传感器的局限性，并从理论上对多传感器异步融合的性能进行了分析。仿真结果表明该异步融合模型是有效的，能够对多传感器的异步数据进行优化处理，并且优于单一传感器的性能。

Asynchronous Multisensor Data Fusion

Due to the reasons of sensors in itself and the communication delays, the research of the asynchronous multisensor data fusion problem is more practical than that of synchronous one. Based on minimizing the trace of the fusion error covariance matrix, the asynchronous multisensor data fusion algorithm is presented. The multisensor track fusion is valid for asynchronous sensors as well as synchronous sensors. The algorithm makes up for the drawback that asynchronous fusion is limited to one-one sensors fusion. Significantly, the extensive multisensor asynchronous sensor fusion model is established. The analyse of algorithm in the theoretical deduction is presented. The format of algorithm is concise and applicable. Finally, simulation results show the asynchronous mulitsensor fusion is effective and the performance of the model is superior to that of single sensor.