Multi-Sensor Measurement Fusion via Decoupled Alpha-Beta-Gamma Filtering

Abstract

A decoupled alpha-beta-gamma filter is developed to centralized measurement fusion for tracking the same maneuvering target in a multi-sensor environment. Based upon data compression and decoupling techniques, the Tracking Index which is defined as the target maneuverability to the fused measurement uncertainty ratio plays the fundamental role in the steady-state solution. The solution yields a closed form, consistent set of tracking gains and error covariance expressed as a function of the steady-state gains. The proposed filter provides a methodology to integrate measurements into one to obtain a final state estimate using closed-form equations. The simulation results are presented which demonstrate the effectiveness of the proposed method.