The invention discloses a method and a
system for enhancing the robustness of a multi-
source data fusion
algorithm, and aims to improve the adaptability to
noise and outliers in a multi-sensor data fusion process. According to the method, an adaptive
noise mechanism and an
outlier detection mechanism are introduced, so that the influence of abnormal
observation data is effectively suppressed, and the fusion precision and the
system stability are improved. The method comprises the following steps: firstly, a
system carries out preliminary
state prediction by initializing a target state, a
covariance matrix and observation
noise; then, the
mahalanobis distance of each
observation data is calculated based on chi-square test through an
outlier detection mechanism, if the
observation data deviates greatly, the observation data is judged as an
outlier, and the influence of the observation noise matrix on a fusion result is reduced by increasing the observation noise matrix of the observation data; then, an adaptive noise adjustment method is adopted, adaptive factors are calculated in real time according to observation data of each sensor, and observation noise is dynamically adjusted to adapt to changes of the
noise level; and finally, state
estimation and
covariance updating are carried out in combination with fusion algorithms such as Kalman filtering, and data fusion and system feedback are completed. According to the scheme, noise interference and abnormal values in multi-
source data can be effectively dealt with, the robustness and the real-
time response capability of the system are improved, and the method has wide application prospects.