Multi-path sensor data fusion method and system

Abstract

The invention provides a multi-path sensor data fusion method and system. According to the invention, the method for determining the state of a movable device includes the following steps: if second sensor data acquired in the second sensor system is no available or is not updating, based on first sensor data acquired by a first sensor system, determining the prediction state of the movable device; if the second sensor data acquired by the first sensor system is available or is updating, based on the second sensor data, determining the first observation state of the movable device; based on first difference between the first observation state and the prediction state, determining whether to update the state of the movable device based on the first observation state, wherein the first difference is intended for indicting whether the second sensor data is available.

Description

[0001] Copyright statement [0002] The disclosure of this patent document contains material that is protected by copyright. This copyright belongs to the copyright owner. The copyright owner has no objection to the reproduction by anyone of the patent document or the patent disclosure as it exists in the official records and files of the Patent and Trademark Office. technical field [0003] Embodiments of the present invention relate to the field of navigation, and more specifically relate to a method and system for multi-channel sensory data fusion. Background technique [0004] Unmanned vehicles, for example, unmanned aerial vehicle (Unmanned Aerial Vehicle, referred to as "UAV"), also known as unmanned aerial vehicles, unmanned vehicles, etc., have more and more applications in many fields such as search and rescue and exploration. A remote controller is usually used to control and navigate the unmanned vehicle. However, in some scenarios, unmanned vehicles can perfor...

AI Technical Summary

Problems solved by technology

But the current sensor system for unmanned vehicles is not ideal

For example, most sensing systems adopt a single-line decision-making mode that does not fully consider the redundancy margin. The single-line decision-making mode is used when one or more sensors fail due to a specific environment (for example, indoors, outdoors, high altitude, low altitude). Unable to select available sensors and / or sensory data when inaccurate data

This will reduce the safety performance of unmanned vehicles

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