Fusion tracking algorithm for photoelectric theodolite based on three state transition model

DOI:	10.11809/bqzbgcxb2025.01.036
Keywords:	range measurement and control; photoelectric theodolite; data fusion; fusion tracking
Abstract:	Aiming at the problem of autonomous and stable tracking of multi sensor in closed loop mode of photoelectric theodolite, a multi sensor adaptive weighted fusion algorithm and a fusion tracking algorithm based on three state transition model are proposed. Firstly, the recursive formula of error covariance is improved by using attenuation factor and least square extrapolation, and the weighted coefficient based on error covariance estimation is obtained, and the multi sensor weighted fusion algorithm is obtained. Secondly, the residual of the new error term and the weighted coefficient in the weighted fusion calculation are used to define the different states of the sensor, and the fusion tracking algorithm based on the three state transition model is proposed. When the current sensor fails or there is interference, the algorithm outputs the weighted fusion value of multi sensor measurements or switches sensors autonomously, so as to realize the autonomous stable measurement of the theodolite. The experimental results show that the algorithm can switch the selected sensor in time when a sensor has interference or the miss distance can not be extracted. The output data is accurate and stable, which ensures the stable operation of the tracking system and has good robustness to the measurement situation.
Issue:	Vol. 46 No. 1 (2025)
Published:	2025-01-31
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