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Weighted measurement fusion Fitting Kalman Filter for Multi-sensor Nonlinear Systems

For multi-sensor nonlinear systems, a new weighted measurement fusion (WMF) method is presented based on fitting Kalman filter (FKF), referred to as WMF-FKF, to enhance the accuracy of the state estimation. The main idea of WMF-FKF is FKF, which is suitable for nonlinear filtering. To evaluate the estimation performance, the simulation is carried out and the results are compared with other fusion algorithms. The results demonstrate that WMF-FKF provides better accuracy than other fusion algorithms and has lower computational cost.