Journal of Guangdong University of Technology ›› 2009, Vol. 26 ›› Issue (1): 16-.

• Comprehensive Studies • Previous Articles     Next Articles

A Multisensor Data Fusion Estimation Algorithm for Vehicle Maneuvering Target Tracking

  

  1. 1.School of Automation,Northwestern Polytechnical University;2.School of Marine Engineering,Northwestern Polytechnical University;3.School of Mechanical and Electrical Engineering,Northwestern Polytechnical University,Xi’an 710072,China
  • Online:2009-01-01 Published:2009-01-01

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Abstract: To solve the vehicle’s tracking problems with real time and precision in automated highway system,a novel state estimation algorithm based on multisensor data fusion is proposed. Firstly,a nonlinear system dynamic model was established for the vehicle motion state with discrete time and multiple models. By utilizing each sensor measurement data in current time and combining interacting multiple models (IMM) with extended kalman filter (EKF),the local state estimation value and error covariance m...

Key words: vehicle； maneuvering target tracking； interacting multiple models (IMM)； extended kalman filter(EKF)； data fusion；

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