Sensor Data Fusion Using Kalman Filter

摘要

This Many sensor devices are used for the navigation purposes in an aircraft. This paper proposes the fusion of two sensors namely RADAR and IRST data to improve the accuracy of the target location respectively. RADAR is of RF domain whereas IRST tracks the target in IR domain, both gives the target data in azimuth, elevation and range. Sensor data fusion is used to combine the advantages in both the sensors, i.e RADAR provides accurate range whereas LOS is not accurate. On the other hand IRST provides accurate LOS and range accuracy is ambiguous. Thus to avoid the ambiguity of both the sensors and to have a more accurate information of target the fusion of data from the sensors is done. Extended Kalman filter is used for the Sensor Data Fusion, as the estimates which are obtained from this statistical method is more accurate and nearer to the true value than the measured value, also fusion methods are compared.