Sensor fusion has long been recognized as a mean to improve target tracking. Sensor fusion deals with the merging of several signals into one to get a better and more reliable result. To get an improved and more reliable result you have to trust the incoming data to be correct and not contain unknown systematic errors.
This thesis tries to find and estimate the size of the systematic errors that appear when we have a multi platform environment and data is shared among the units. To be more precise, the error estimated within the scope of this thesis appears when platforms cannot determine their positions correctly and share target tracking data with their own corrupted position as a basis for determining the target’s position.
The algorithms developed in this thesis use the Kalman filter theory, including the extended Kalman filter and the information filter, to estimate the platform location bias error. Three algorithms are developed with satisfying result. Depending on time constraints and computational demands either one of the algorithms could be preferred.
Source: Linköping University
Author: Wiklund, Åsa