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Algebraic analysis of data fusion with ellipsoidal intersection
- Source :
- MFI, 2016 IEEE lnternational Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2016. 19 September 2016 through 21 September 2016, 365-370
- Publication Year :
- 2016
- Publisher :
- IEEE, 2016.
-
Abstract
- For decentralized fusion problems, ellipsoidal intersection has been proposed as an efficient fusion rule that provides less conservative results as compared to the well-know covariance intersection method. Ellipsoidal intersection relies on the computation of a common estimate that is shared by the estimates to be fused. In this paper, an algebraic reformulation of ellipsoidal intersection is discussed that circumvents the computation of the common estimate. It is shown that ellipsoidal intersection corresponds to an internal ellipsoidal approximation of the intersection of covariance ellipsoids. An interesting result is that ellipsoidal intersection can be computed with the aid of the Bar-Shalom/Campo fusion formulae. This is achieved by assuming a specific correlation structure between the estimates to be fused.
- Subjects :
- 0209 industrial biotechnology
Computation
02 engineering and technology
Covariance intersection
Combinatorics
Algebraic analysis
020901 industrial engineering & automation
Intersection
Ellipsoidal intersections
Ellipsoidal approximations
Intelligent systems
0202 electrical engineering, electronic engineering, information engineering
Algebraic number
2015 Observation, Weapon & Protection Systems
Mathematics
TS - Technical Sciences
Fusion rule
Mathematical analysis
020206 networking & telecommunications
Data fusion
Covariance
Sensor fusion
Ellipsoid
Algebra
AS - Acoustics & Sonar
Correlation structure
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)
- Accession number :
- edsair.doi.dedup.....50143f7b8fe630c5e940ae5a027b1e78