提出了一种多传感器目标跟踪数据融合方法,先对各传感器信号作经Kalman滤波,分别得到目标的航迹,再对各航迹进行数据融合,以提高目标的定位精度。该方法直接对经Kalman滤波后得到的直角坐标下航迹进行数据融合,避免了各个传感器之间繁琐的几何位置转换,又由于经Kalman滤波直接得到滤波后航迹的后验误差,从而避免了复杂的误差转换,具有简洁、高效等特点。 A multi-sensor target tracking data fusion method is proposed. Firstly, the Kalman filtering of each sensor signal is used to obtain the target trajectory and the data fusion of each trajectory to improve the target’s positioning accuracy. The method directly integrates the trajectories under Cartesian coordinates obtained after Kalman filtering to avoid the cumbersome geometrical position transformation between the sensors and to obtain the posterior error of the filtered track directly by Kalman filtering so as to avoid Complex error conversion, with simple, efficient and so on.