Handbook of Multisensor Data Fusion, 2nd Edition

14

 

 

General Decentralized Data Fusion with Covariance Intersection

 

Simon Julier and Jeffrey K. Uhlmann

CONTENTS

14.1   Introduction

14.2   Decentralized Data Fusion

14.3   Covariance Intersection

14.3.1   Problem Statement

14.3.2   Covariance Intersection Algorithm

14.4   Using Covariance Intersection for Distributed Data Fusion

14.5   Extended Example

14.6   Incorporating Known-Independent Information

14.6.1   Example Revisited

14.7   Conclusions

Acknowledgments

Appendix 14.A   Consistency of CI

Appendix 14.B    MATLAB Source Code

14.B.1   Conventional CI

14.B.2   Split CI

References

 

 

14.1   Introduction

Decentralized (or distributed) data fusion (DDF) is one of the most important areas of research in the field of control and estimation. ...