Explicit Recursive Track-to-Track Fusion Rules for Nonlinear Multi-Sensor Systems
Bibliographic record
Abstract
This letter presents explicit sub-optimal track-to-track fusion algorithms for Multi-Sensor Systems (MSS) estimating nonlinear processes. The individual tracks in an MSS are correlated due to the presence of a common process noise in the track estimation errors. Herein, we propose recursive formulae for consistent correlation estimation in mildly and highly nonlinear systems that respectively use Extended Kalman Filters (EKF) and Unscented Kalman Filters (UKF) for track estimation. In a mildly nonlinear system, the linearized model employed in the EKF-based MSS architecture offers a correlation propagation formula whose coupling with the optimal track fusion rule generates a sub-optimal fused estimate. On the other hand in highly nonlinear systems, the UKF-based architectures are proven effective for track estimation. The UKF works based on the unscented transform of deterministic sigma points, which is equivalent to the Statistical Linearization Regression (SLR) process. For UKF-based MSS architectures, we propose a consistent correlation propagation recursion according to the SLR technique that will be coupled with the optimal track fusion rule to generate a sub-optimal fused estimate. The performance of the developed fusion algorithms is demonstrated through conducting a statistical test and an average root mean square error analysis.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.002 | 0.005 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".