Multi-sensor Measurement Fusion Research Articles

A Fuzzy Dempster–Shafer Evidence Theory Method with Belief Divergence for Unmanned Surface Vehicle Multi-Sensor Data Fusion

The safe navigation of unmanned surface vehicles in the marine environment requires multi-sensor collaborative perception, and multi-sensor data fusion technology is a prerequisite for realizing the collaborative perception of different sensors. To address the problem of poor fusion accuracy for existing multi-sensor fusion methods without prior knowledge, a fuzzy evidence theory multi-sensor data fusion method with belief divergence is proposed in this paper. First of all, an adjustable distance for measuring discrepancies between measurements is devised to evaluate the degree of measurement closeness to the true value, which improves the adaptability of the method to different classes of sensor data. Furthermore, an adaptive multi-sensor measurement fusion strategy is designed for the case where the sensor accuracy is known in advance. Secondly, the affiliation function of the fuzzy theory is introduced into the evidence theory approach to assign initial evidence of measurements in terms of defining the degree of fuzzy support between measurements, which improves the fusion accuracy of the method. Finally, the belief Jensen–Shannon divergence and the Rényi divergence are combined for measuring the conflict between the evidence pieces to obtain the credibility degree as the reliability of the evidence, which solves the problem of high conflict between evidence pieces. Three examples of multi-sensor data fusion in different domains are employed to validate the adaptability of the proposed method to different kinds of multi-sensors. The maximum relative error of the proposed method for multiple sensor experiments is greater than or equal to 0.18%, and its error accuracy is much higher than the best result of 0.46% among other comparative methods. The experimental results verify that the proposed data fusion method is more accurate than other existing methods.

Multi-sensor measurement fusion based on minimum mixture error entropy with non-Gaussian measurement noise

In this paper, a novel multi-sensor measurement fusion method is proposed based on minimum error entropy criterion for nonlinear state estimation in non-Gaussian measurement noise. Through cubature-quadrature transform, a mixture error entropy cost function is defined to capture the high order statistics of multi-source measurement error. Based on the centralized measurement model, a measurement fusion information filter is developed by minimizing the mixture error entropy cost. The fixed point iteration approach is employed to calculate the estimates, and the square root implementation of the proposed filter is also provided. Further, the convergence conditions of the proposed information filter are derived. Simulations are performed with different dimensional measurements to demonstrate the effectiveness of the proposed algorithm. It is shown that, the estimation performance of the proposed measurement fusion information filter is better than that of traditional Kalman and Huber's filter based fusion methods against outliers and Gaussian mixture noises.

The Non-linear Tracking of IMM- PHD Filter for Rader-Infrared Sensor Data Fusion

In order to improve the accuracy of multi-target tracking, a feasible dada fusion system is proposed for radar and infrared sensor used together, to overcome the defects both small detection range and no distance measurement for infrared sensor, and to avoid the problem of large error in measurement information of single sensor. Rader and infrared dada fusion can achieve complementary information. An optimal weighted fusion method for measurement of radar and infrared sensors is derived, and an interactive multi-model PHD nonlinear filtering algorithm is used to improve the accuracy of target tracking. The computer simulation results show that the integrated system and multi-sensor measurement fusion method can improve the accuracy of target state estimation. It is of great practical significance to solve the problem of target tracking estimation of heterogeneous multi-sensor.