Kalman Filtering Based on Data Fusion Theory

Theories of data estimation fusion were introduced in detail in this paper. Diverse data fusion structures in the multi-sensor systems were summarized.The Kalman filter-based model was constructed for the data fusion estimation, and the Kalman filter algorithms for different data fusion structures, including centralized, sequential, parallel, joint and so on, were enumerated and simulated. The simulation results showed that the estimation accuracy could be considerably improved by the multi-sensor data fusion.