An Improved Multisensor Self-Adaptive Weighted Fusion Algorithm Based on Discrete Kalman Filtering

Table 1

Initial parameters of the discrete Kalman filter.

Unit	Initial estimation variance, P0|0	Initial estimate, x0|0	Process variance, Q
Sensor 1	0.6	19	4e − 4
Sensor 2	0.6	20	4e −
Sensor 3	0.6	23	4e − 4