State fusion estimation covariance of measurement fusion

摘要

Measurement fusion is an optimal state fusion algorithm. The estimation covariance of measurment fusion algorithm is the key of fusion performance. This paper defines measurement fusion function and prove that the function decides the covariance of measurement fusion. If two multisensor data fusion systems have the identical Measurement fusion function, fusion systems have the identical covariances. The greater the function is, the less covariance the fusion system can obtain. At last simulations are presented to verify the theoretical results.