Table 1 Notation list
From: A novel distributed fusion algorithm for multi-sensor nonlinear tracking
Notation | Meaning of the notation |
|---|---|
x k | The state at time step k |
P k | The variance of state at time step k |
i | The i-th sensor |
I | The number of sensors |
n | The n-th particle |
N | The number of particles |
\(\boldsymbol {X}^{n}_{k}\) | The n-th particle of state at time step k |
\(\boldsymbol {z}^{i}_{k}\) | The observation of the i-th sensor at time step k |
\(\boldsymbol {z}^{f}_{1:k}\) | The observation set of all sensors from time step 1 to k |
p(·) | The transition distribution of state |
q(·) | The likelihood of state |
h i(·) | The observation function of the i-th sensor |
Q | The variance of observation noise |
δ(·) | The Dirac delta function |
C | The normalized constant |
F | The transition function |
n k−1 | The transition noise at time k−1 |
d x,k ,d y,k | The distances along x and y direction at time step k |
v x,k ,v y,k | The velocity along x and y direction at time step k |
s T | The sampling interval |
n d ,n v | The transition noise of distance and velocity with variance \({\sigma ^{2}_{d}}\) and \({\sigma ^{2}_{v}}\) |
n θ ,n r | The observation noise of azimuth and distance with variance \(\sigma ^{2}_{\theta }\) and \({\sigma ^{2}_{r}}\) |