Algebraic analysis of data fusion with ellipsoidal intersection
conference paper
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 ovariance 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.
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.
Topics
TNO Identifier
753484
ISBN
9781467397087
Publisher
Institute of Electrical and Electronics Engineers Inc.
Article nr.
7849515
Source title
2016 IEEE lnternational Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2016. 19 September 2016 through 21 September 2016
Pages
365-370
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