航迹融合中的量测协方差统一转换方法

Unified conversion method of measurement covariance in track fusion

摘要:

量测协方差广泛应用于多传感器航迹融合领域，研究量测协方差在不同坐标系之间的转换方法有着重要的意义。量测协方差的转换方法虽已有部分研究，但在融合中的使用存在转换流程和框架不明确而影响融合精度的问题。为此，开展了航迹融合中的量测协方差转换方法研究，分线性转换和非线性转换2种情况，为基于协方差加权的航迹融合处理提供了一套规范化协方差转换流程和统一的转换公式。以非线性的坐标转换为例，仿真实验验证了不同位置和不同量测精度下使用转换方法计算协方差，得到的相对误差始终保持在可接受的范围内。转换的协方差有利于提高航迹融合精度，体现了该方法的有效性，可广泛应用于分布式航迹融合。

Abstract:

Measurement covariance has been widely used in the field of multi-sensor track fusion. It is of great significance to study the transformation method of measurement covariance between different coordinate systems. The conversion method of measurement covariance has been partially studied, but there is not a clear conversion framework for covariance conversion between different coordinate systems, which may affect fusion accuracy. This paper conduct-ed research on the measurement covariance transformation method in track fusion, which included linear transformation and nonlinear transformation. It provided a standardized covariance transformation process and unified transformation formula for track fusion processing based on covariance weighting. Taking the conversion in nonlinear coordinate system as an example, the simulation verified that, under different positions and different measurement accuracy, the relative error of the method remains within an acceptable range. The converted covariance is conducive to improving the accuracy of track fusion, which shows the effectiveness of this method and can be widely used in distributed track fusion.