Information fusion method and device of multi-sensor system

Abstract

The embodiment of the invention provides an information fusion method and device of a multi-sensor system, and relates to the field of sensor information processing. The method can greatly improve adaptability of an information fusion algorithm and algorithm accuracy in complex cases, and includes: establishing an observation equation according to a preset random fault rate; determining target sensors which are in the multi-sensor system and can carry out information fusion at a current time; calculating theoretical values of observation values of the target sensors at the current time according to the observation equation; calculating values of the observation residual counting characteristics of the target sensors at the current time; according to size relationships of the values of theobservation residual counting characteristics of the target sensors at the current time and preset chi-square distribution values, judging whether the observation values of the target sensors at the current time have an error; and obtaining a result of information fusion of the target sensors at the current time according to whether the observation values of the target sensors at the current timehave the error.

Description

technical field [0001] The invention relates to the field of sensor information processing, in particular to an information fusion method and device for a multi-sensor system. Background technique [0002] Complex systems such as AR / VR (Augmented Reality / Virtual Reality, Augmented Reality / Virtual Reality) systems, medical and health sensor intelligence systems, target tracking systems, and image signal processing systems all belong to multi-sensor systems, and various multi-sensor systems will be used in the future When the information collected by each sensor is fused, a unique algorithm needs to be used to complete it. However, the existing multi-sensor information fusion method does not consider the random unreliability of observations, that is, the observation of random faults, that is, the observation value of any sensor may be wrong due to various random faults during the information fusion process. The multi-sensor information fusion method does not take into account...

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Problems solved by technology

However, the existing multi-sensor information fusion method does not consider the random unreliability of observations, that is, the observation of random faults, that is, the observation value of any sensor may be wrong due to various random faults during the information fusion process. The multi-sensor information fusion method does not take into account the possibility of correlation between the system noise when obtaining the state value of the multi-sensor system and the observation noise when each sensor obtains the observed value; Most of them have observed random faults, and there is a certain correlation between the system noise and the observed noise of each sensor, so the introduction of observed random faults is more in line with the actual situation, so the existing multi-sensor information fusion method is not suitable for the actual situation

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