Multi Sensor Data Fusion

Dr. A K Sarkar
Scientist
Directorate of Systems
DRDL, Hyderabad-58

Workshop on
KALMAN FILTERING AND ITS APPLICATIONS,
conducted by IISc, Bengaluru, at LRDE
01-03-2011
 Review paper

Text book
 Multi Sensor Data Fusion (MSDF)
Measurements
• Sensors System (Radar, Sonar, EOTS, Seeker ) as external measurements
• Imaging sensors
• Pitot Static Probe
• GPS, DGPS as external measurements (inertial)
• Onboard measurements (SDINS)

MSDF Activities

 Information from multiple sources

 A multilevel process dealing with detection, association, correlation, estimation
 Data availability at different time tags
 Combination of all sets of data in a statistical sense

Applications
 Robotics
 Military applications (coast guard, air traffic control, remote sensing)
 Medical diagnosis (information fusion of sensors such as X-ray, magnetic resonance,
tomography images)

Aerospace applications
 Improved target detection and tracking with less tracking error
 Fire control system employing multiple sensors for acquisition, tracking and
command guidance
Desirable features of MSDF architecture
 Modularity
 Parallelism
 Distributed structure (Military C3 system)
 Robustness/ Survivability

Fusion algorithms

• State Vector Fusion (bank of Kalman Filters)

• Measurement Fusion

Two Case Studies to be discussed

• Available External Measurements (Cass 1) (Post flight analysis)

Track data containing position information of Strategic Flight
Vehicle from Tracking Radar located at three different tracking
stations .

• Available External Measurements (Cass 2) (Real time guidance)

Seeker data and radar data fusion fusion for guidance purpose
in real time for Air Defence (exo-atmosphere application)
(dissimilar sensors)

(similar sensors)
 A Typical Case Study (Case study #1)

Agni AE02 Radar Data Processing

Using EKF/MBFS and MSDF
(Post Flight Analysis)

Sarkar A K: Flight Data Compatibility Check Using BFGS

Under Limited Measurements With Multi Sensor Data Fusion,
Paper No AIAA-99-4176, (1999).
Typical SFV Tracking Situation
Schematic Diagram of a SFV Tracked by Radar
 Radar data Precessing using three sets of radar data

 Use CJ model with 12 states and three measurements

 Use EKF in forward pass and MBFS in backward pass

Run three filter/smoothers (EKF/MBFS) in parallel

Combine estimates from three sources using state vector

fusion technique of MSDF.
(Forward pass)
MBFS (Backward Pass)
Comparison of estimated position from three sets of
Radar Data (MSDF using Algorithm #1)
1 sigma estimation error of position, velocity components
(MSDF (Algorithm #1))
Comparison of estimated position from three sets of
Radar Data (MSDF using Algorithm #2)
1 sigma estimation error of position, velocity components
(MSDF (Algorithm #2))
Flight Data Compatibility Check

Matching System Output With External Radar Measurements

Estimation Of Bias And Scale Factor From All Telemeter Data

 Introspections based on present radar data fusion

 Estimates are more accurate using Algorithm #2 due to

inclusion of cross-covariance among different sensors

 Using the fused position data flight data compatibility check

was carried out for aerodynamic parameter estimation

 In a nutshell information available from all radar data was used

 A Typical Case Study (Case study #2)

Seeker and Radar data processing

Using EKF and MSDF
(Realtime application)

Ananthasayanam M R, Sarkar A K, Bhattacharya A, Tiwari P and

Vorha P: Nonlinear Observer State EstimationFrom Seeker
Measurements and Seeker-Radar Measurements Fusion , Paper No
AIAA-2005-6066-CP (2005).
EKF Formulation for Seeker Measurements

EKF Formulation for Radar Measurements

MSDF (Algorithm #1)

MSDF (Algorithm #2)

Results

Conclusion
Seeker EKF Formulation
 1  s 1 
Random EKF Estimator
Acceleration
1  s  2 

+ x̂
Missile + Predicted State Predicted
Kinematics & Update Measurements
–

Seeker
Noise + +
+ Seeker
Measurements

Achieved
Acceleration Autopilot & Commanded Acceleration Guidance
Actuator Law

PURSUER EVADER ENGAGEMENT SIMULATION IN CLOSED LOOP

Schematic Diagram of Pursuer
and Evader Engagement
Axis System for Kinematic Modeling of State Equations

•Pursuer Body Frame

•Pursuer Fin Frame

•Pursuer Seeker Gimbal Frame

•Local Vertical Frame

•Inertial Frame

Different Axes System For Seeker

Axes Convention of LOS frame
wrt Inertial Frame
Axes Convention of Pursuer body frame
wrt Inertial Frame
Axes Convention of Pursuer body frame
and fin Frame
Axes Convention of Fin Dash Seeker Frame
 PROBLEM DEFINITION
• Estimation of Relative Position,
Relative velocity and Target acceleration
from noisy (Range rate, Gimbal angles and
Gimbal angle rates ) Seeker Measurements

CONSTRAINTS
• Measurement Data at 25 milliseconds
interval
• Measurement noise is non gaussian due
to effect of eclipsing, glint, thermal noise
and RCS fluctuations
•There is an aperiodic data loss in LOS
rates due to eclipsing, RCS fluctuations
 Different Seeker Measurements
Measurements Eclipsing Zone Non Eclipsing Zone

Range Rate A A

Gimbal Angle (yaw) A A

Gimbal Angle (pitch) A A

LOS rate (yaw) NA A

LOS rate (pitch) NA A

NA = Not Available
A = Available
Total 5 and 3 measurements during non eclipsing and
eclipsing time zones respectively
Different DCM Matrices
KALMAN FILTER FORMULATION
(CP Frame)
Radar EKF Formulation
Tracking Radar at launch point (schematic)
Derivation of measurement equations from radar measurements
Filter Tuning Elements (P_0, Q)
 Time History of measured range and range rate
estimation error averaged over 25 MC (Filter #1, Filter #2)
Measured yaw, pitch gimbal angle estimation error
hostory averaged over 25 MC (Filter #1, Filter #2)
Time History of LOS rates (yaw + pitch) estimation error
averaged over 25 MC (Filter #1, Filter #2)
Time History of Delta x estimation error
averaged over 25 MC (Filter #1, Filter #2)
Time History of Delta y estimation error
averaged over 25 MC (Filter #1, Filter #2)
Time History of Delta z estimation error
averaged over 25 MC (Filter #1, Filter #2)
Time History of Delta V_ x estimation error
averaged over 25 MC (Filter #1, Filter #2)
Time History of Delta V_ y estimation error
averaged over 25 MC (Filter #1, Filter #2)
Time History of Delta V_ z estimation error
averaged over 25 MC (Filter #1, Filter #2)
Normplot of LOS rate measurement noise along yaw, pitch channel
RECAPITULATION AND CONCLUSION

•Brief Introduction to MSDF and its utility in real world

•Different MSDF Algorithms

•Case study of radar data processing from different

tracking stations (Case study #1)

.Seeker and Radar Data processing (Case Study #2)

MSDF Performance is very bad if the sensors have

deterministic bias
THANK YOU FOR THE
PATIENT HEARING !

Other Contributors
Dr. M R Ananathasayanam
Dr. S Vathsal