In decentralized data fusion system, if the probability model of the noise is Gaussian and the innovation informations from the sensors are uncorrlated,the information filtering technique can be the best method to fuse the information from different sensors. However, in the realistic environments, information filter cannot provide the best solution of state estimation and data integration when the noises are non-Gaussian and correlated. Since particle filter are capable of dealing with non-linear and non-Gaussian problems, it is an intuitive approach to replace the information filter by particle filter with some suitable data fusion techniques.In this thesis, we investigate a decentralized data fusion system with improved particle filters for target tracking. In order to achieve better tracking performance, the Iterated Extended Kalman Filter framework is used to incorporate the newest observations into the proposal distribution of the particle filter. In our proposed architecture, each sensor consists of one particle filter, which is used in generating the local statistics of the system state. Gaussian mixture model (GMM) is adopted to approximate the posterior distribution of the weighted particles in the filters, thereby more compact representations of the distribution for transmmision can be obtained. To achieve information sharing and integration, the GMM-Covariance Intersection algorithm is used in formulating the decentralized fusion solutions. Simulation resluts of target tracking cases in a sensor system with two sensor nodes are given to show the effectiveness and superiorty of the proposed architecture.
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0801108-140925 |
| Date | 01 August 2008 |
| Creators | Tsai, Shin-Hung |
| Contributors | Chen-Wen Yen, Kuanchih Wang, Chin-Der Wann, Miin-Jong Hao |
| Publisher | NSYSU |
| Source Sets | NSYSU Electronic Thesis and Dissertation Archive |
| Language | Cholon |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0801108-140925 |
| Rights | not_available, Copyright information available at source archive |
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