UKF-based real-time multi-source data fusion method

The invention provides a UKF-based real-time multi-source data fusion method. The method comprises the following steps of: firstly, receiving data: receiving a measurement element through a data receiving thread; secondly, data preprocessing: processing different types of measurement elements by adopting different preprocessing methods according to different types of the measurement elements, and storing the preprocessed measurement elements in a data cache region; and finally, data calculation: searching available measurement elements at the current moment from the data cache region by using a measurement element selection strategy, generating a measurement element matrix, solving the measurement element matrix through a UKF filtering algorithm, and obtaining and displaying target motion parameters. According to the invention, the direct observation data of the measurement devices are fused, the utilization rate of the measurement devices is improved by utilizing the complementary relationship among the meas