Heterogeneous multi-sensor data fusion method based on target distance

Abstract

The invention discloses a heterogeneous multi-sensor data fusion method based on object distance. Whether an object is located within an effective measuring range of an active sensor or an effective measuring range of a passive sensor is judged, the active sensor and the passive sensor are adopted to independently track the object separately, or the active sensor and the passive sensor track the object together, an active sensor measuring value weight and a passive sensor measuring value weight are set according to the distance between the object and the active sensor and the distance betweenthe object and the passive sensor respectively, the active sensor measuring value weight and the passive sensor measuring value weight are fused with a target distance measuring value of the active sensor and the passive sensor to obtain a precise position of the object, and fusion of heterogeneous multi-sensor data is achieved. By means of the heterogeneous multi-sensor data fusion method based on the object distance, compared with a traditional equal weighting algorithm and a variance weighting algorithm, the real-time position information of the object is considered through a weight-varyingdata fusion method, the obtained weight can more comprehensively meet the requirement of the sensors for tracking the object, and the tracking precision is improved.

Description

technical field [0001] The invention relates to the field of multi-sensor technology, in particular to a heterogeneous multi-sensor data fusion method based on target distance. Background technique [0002] In a multi-sensor system, there are certain differences in the measurement data provided by each sensor. How to effectively fuse the data of different sensors to obtain better system performance has become one of the hot spots in the research of multi-sensor data fusion technology. The use of heterogeneous sensors has its natural advantages. Each type of sensor can observe the target from different angles and has its own advantages. One of its typical applications is the target tracking system composed of active and passive sensors. For example, radar sensors can measure the movement characteristics of targets by actively emitting electromagnetic waves. However, radars need to radiate high-power electromagnetic waves when they are working, so they are vulnerable to electr...

AI Technical Summary

Problems solved by technology

For example, the radar sensor can measure the movement characteristics of the target by actively emitting electromagnetic waves, but the radar needs to radiate high-power electromagnetic waves when it is working, so it is vulnerable to electronic interference, and the radar has low-altitude blind spots

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