一种提高车辆导航系统定位精度的方法

为了解决量测方程线性化及普通卡尔曼滤波数值稳定性对车载航位推算系统滤波结果的影响,给出了车载航位推算系统的基于U D分解的自适应迭代滤波算法,并将这一算法与车载航位推算系统的迭代型自适应推广卡尔曼滤波算法及简单航位推算进行了比较。计算机仿真结果表明:新算法能够有效地提高车载航位推算系统的定位精度及数值稳定性。     

A fusion strategy for reliable vehicle positioning utilizing RFID and in-vehicle sensors

In recent years, RFID has become a viable solution to provide object's location information. However, the RFID-based positioning algorithms in the literature have disadvantages such as low accuracy, low output frequency and the lack of speed or attitude information. To overcome these problems, this paper proposes a RFID/in-vehicle sensors fusion strategy for vehicle positioning in completely GPS-denied environments such as tunnels. The low-cost in-vehicle sensors including electronic compass and wheel speed sensors are introduced to be fused with RFID. The strategy adopts a two-step approach, i.e., the calculation of the distances between the RFID tags and the reader, and then the global fusion estimation of vehicle position. First, a Least Square Support Vector Machine (LSSVM) algorithm is developed to obtain the distances. Further, a novel LSSVM Multiple Model (LMM) algorithm is designed to fuse the data obtained from RFID and in-vehicle sensors. Contrarily to other multiple model algorithms, the LMM is more suitable for current driving conditions because the model probabilities can be calculated according to the operating state of the vehicle by using the LSSVM decision model. Finally, the proposed strategy is evaluated through experiments. The results validate the feasibility and effectiveness of the proposed strategy.     

Multi-sensor fusion for steerable four-wheeled industrial vehicles

This paper addresses the problem of multi-sensor data fusion in the navigation of a steerable four-wheeled industrial autonomous vehicle, which experiences substantial load variations of up to twice its weight. The practical considerations in the implementation of the filter are discussed. It aims to achieve a robust fusion algorithm with increased system tolerance against prolonged periods when absolute position updates are missing by improving estimation accuracy during dead-reckoning. The main contributions of this paper include the development of an adaptive estimator based on the extended Kalman filter to realise the multi-model filtering; the representation of the vehicle plant using a modified kinematic model to effectively describe the side-slip bias; the processing of redundant measurements to improve system immunity against noisy observations; and the ability to cope with periodically available odometry measurements and temporary position corrections from a landmark-based local reference system. To allow better adaptation to tyre wear and the wheels’ deflections under varying loads, the wheel encoder's resolution is constantly calibrated. The filter performance is evaluated at different speeds, loading patterns and maneuvers. Statistical tests are carried out to verify the filter consistency.     

一种非合作目标的多传感器量化融合跟踪方法

针对非合作目标跟踪问题,为解决无线传感器网络有限带宽和相关噪声造成的精度影响,在集中式融合框架下提出了三种基于量化信息的目标跟踪算法.首先,局部传感器节点采用自适应的量化策略将观测值量化成消息,并发送到融合中心;然后,融合中心利用状态方程恒等变换和Cholesky分解技术解除任意噪声的相关性;最后,引入强跟踪滤波技术、矩阵求逆引理和顺序滤波技术设计融合方法.几个仿真实验表明,三种新方法的估计精度完全等价,新算法还具备应对目标状态突变等不确定因素的能力,增强了算法的鲁棒性.     

多传感器异步线性测量系统的数据融合

由于采样速率和传送数据到融合中心的通信延迟的不同,现代工业生产过程中用于对未知的常值或缓变参数进行估计的多传感器通常是异步工作的,且受到加性测量噪声的干扰。在最小二乘估计意义下,对于测量噪声互不相关的多传感器异步线性测量系统,提出了集中式和分布式递推参数估计数据融合算法,两种算法完全等价,且都是全局最优的。数值仿真实验的结果表明,通过利用多传感器的测量数据,增大了对参数测量的数据流和数据率,传感器测量参数的估计准确度得到明显改善。     

Multi-sensor optimal fusion fixed-interval Kalman smoothers

Based on the optimal weighted fusion algorithms in the linear minimum variance sense, the optimal fusion fixed-interval Kalman smoothers are given for discrete time-varying linear stochastic control systems with multiple sensors and correlated noises, which have a three-layer fusion structure. The first and the second fusion layers both have netted parallel structures to determine the cross-covariance matrices of prediction and smoothing errors between any two-sensor subsystems, respectively. The third fusion layer is the fusion centre to determine the optimal weights and obtain the optimal fusion fixed-interval smoothers. Smoothing error cross-covariance matrix between any two-sensor subsystems is derived. Applying it to a tracking system with three-sensors shows the effectiveness.     

多传感器时滞系统信息融合最优Kalman滤波器

基于线性最小方差最优加权融合估计算法,对多传感器的离散线性状态时滞随机系统,给出了一种非增广分布式加权融合最优Kalman滤波器.推导了状态时滞系统任两个传感器子系统之间的滤波误差互协方差阵的计算公式.它与状态增广加权融合滤波器具有相同的精度.与每个传感器的局部滤波器相比,分布式融合滤波器具有更高的精度.与状态和观测增广最优滤波器相比,具有较小的精度.但避免了增广所带来的高维计算和大的空间存储,可减小计算负担.仿真例子验证了其有效性.     

多传感器分布式信息融合粒子滤波器

针对非线性非Gaussian系统的状态估计问题,提出一种基于信息融合的多传感器分布式粒子滤波算法。该算法首先利用粒子滤波方法分别计算局部传感器的状态估值,再应用分布式标量加权融合准则对状态估值进行信息融合。仿真结果表明和单传感器情形相比可提高滤波的精度。     

Multi-sensor optimal information fusion Kalman filter

This paper presents a new multi-sensor optimal information fusion criterion weighted by matrices in the linear minimum variance sense, it is equivalent to the maximum likelihood fusion criterion under the assumption of normal distribution. Based on this optimal fusion criterion, a general multi-sensor optimal information fusion decentralized Kalman filter with a two-layer fusion structure is given for discrete time linear stochastic control systems with multiple sensors and correlated noises. The first fusion layer has a netted parallel structure to determine the cross covariance between every pair of faultless sensors at each time step. The second fusion layer is the fusion center that determines the optimal fusion matrix weights and obtains the optimal fusion filter. Comparing it with the centralized filter, the result shows that the computational burden is reduced, and the precision of the fusion filter is lower than that of the centralized filter when all sensors are faultless, but the fusion filter has fault tolerance and robustness properties when some sensors are faulty. Further, the precision of the fusion filter is higher than that of each local filter. Applying it to a radar tracking system with three sensors demonstrates its effectiveness.     

Multi-sensor management for information fusion: issues and approaches

Multi-sensor management concerns the control of environment perception activities by managing or coordinating the usage of multiple sensor resources. It is an emerging research area, which has become increasingly important in research and development of modern multi-sensor systems. This paper presents a comprehensive review of multi-sensor management in relation to multi-sensor information fusion, describing its place and role in the larger context, generalizing main problems from existing application needs, and highlighting problem solving methodologies.     

基于改进自适应加权的多传感器融合监测

针对加注系统多传感器测量数据融合,为满足融合的可靠性与准确性需求,提出了一种改进的自适应加权融合算法。加权融合算法的关键是如何准确判定测量数据权重值,在总结分析当前权重值判定方法优缺点的基础上,将证据理论中的修正证据距离引入测量数据间距离计算,生成融合权重值,完成传感器数据融合。通过一般算例与加注系统典型算例,对所提融合算法进行验证,结果表明算法融合效果较好、鲁棒性强,具有一定的理论意义和较好的工程实用价值。     

Multi-sensor data fusion methods for indoor localization under collinear ambiguity

Sensor node localization in mobile ad-hoc sensor networks is a challenging problem. Often, the anchor nodes tend to line up in a linear fashion in a mobile sensor network when nodes are deployed in an ad-hoc manner. This paper discusses novel node localization methods under the conditions of collinear ambiguity of the anchors. Additionally, the work presented herein also describes a methodology to fuse data available from multiple sensors for improved localization performance under conditions of collinear ambiguity. In this context, data is first acquired from multiple sensors sensing different modalities. The data acquired from each sensor is used to compute attenuation models for each sensor. Subsequently, a combined multi-sensor attenuation model is developed. The fusion methodology uses a joint error optimization approach on the multi-sensor data. The distance between each sensor node and anchor is itself computed using the differential power principle. These distances are used in the localization of sensor nodes under the condition of collinear ambiguity of anchors. Localization error analysis is also carried out in indoor conditions and compared with the Cramer–Rao lower bound. Experimental results on node localization using simulations and real field deployments indicate reasonable improvements in terms of localization accuracy when compared to methods likes MLAR and MGLR.     

Multi-sensor calibration through iterative registration and fusion

In this paper, a new multi-sensor calibration approach, called iterative registration and fusion (IRF), is presented. The key idea of this approach is to use surfaces reconstructed from multiple point clouds to enhance the registration accuracy and robustness. It calibrates the relative position and orientation of the spatial coordinate systems among multiple sensors by iteratively registering the discrete 3D sensor data against an evolving reconstructed B-spline surface, which results from the Kalman filter-based multi-sensor data fusion. Upon each registration, the sensor data gets closer to the surface. Upon fusing the newly registered sensor data with the surface, the updated surface represents the sensor data more accurately. We prove that such an iterative registration and fusion process is guaranteed to converge. We further demonstrate in experiments that the IRF can result in more accurate and more stable calibration than many classical point cloud registration methods.     

多传感器数据融合技术及其应用

多传感器数据融合技术是一门新兴前沿技术。近年来,多传感器数据融合技术已受到广泛关注,它的理论和方法已被应用到许多研究领域。主要论述了多传感器数据融合的基本概念、工作原理、数据融合特点与结构、数据融合方法及其应用领域,并总结了当前数据融合研究中存在的主要问题及其发展趋势。     

多传感器集中式增量卡尔曼滤波融合算法

在单个传感器的状态估计系统中,标准的增量卡尔曼滤波方法可以有效消除量测系统误差。对于多传感器情况,标准算法失效。针对该问题,提出了多传感器集中式增量卡尔曼滤波融合算法,即:增量卡尔曼滤波的扩维融合算法和增量卡尔曼滤波的序贯融合算法。在标准增量卡尔曼滤波算法的基础上,结合扩维融合和序贯融合的思想来实现多传感器数据的融合。实验结果表明,当存在量测系统误差时,提出的集中式融合算法与传统的集中式融合算法相比,提高了滤波精度,并且能够成功地消除量测系统误差。     

基于区域特性选择的多传感器图像融合

提出了一种提升小波变换和IHS变换相结合的多传感器图像融合新算法,首先,将高分辨力图像所有的低频特征融合到多光谱图像中,再对高分辨力图像经提升小波分解得到的各提升小波面叠加的边缘信息进行区域划分,采用边缘有效因子融合思想进行分区融合,最后,对提升小波反变换后的强度分量进行IHS反变换得到最终的融合图像。实验结果表明:该方法所得融合图像能够较好地保留多光谱图像的光谱信息的同时,提高了图像的空间分辨力,融合效果优于IHS变换法和小波变换法。     

面向化学品运输的车辆定位监控系统

介绍了一种基于GPS和GSM的短消息的危险化学品运输车辆定位监控系统,由车载终端、通信子系统、监控中心组成,并给出了系统方案和软、硬件实现方法。     

基于相似度的多传感器数据融合

利用多传感器状态估计向量(或测量值)的标称化差定义了相似度和相似度矩阵，用空间信息形成一致性测度，用时间信息形成可靠性测度，最终形成了多传感器的组合及加权，并进行时空融合，该融合既可在数据层进行，也可在决策层进行，仿真计算表明了基于相似度的数据融合的有效性。     

A new methodology for measuring land fragmentation

The presence of land fragmentation can indicate that an existing land tenure structure is problematic. It can be a major problem in many regions because it restricts rational agricultural development and reduces the opportunities for sustainable rural development although in some cases, it can prove beneficial and desirable for social and environmental reasons. Whilst policies to counter land fragmentation require reliable measurement of the situation, current fragmentation indices have significant weaknesses. In particular, they ignore critical spatial variables such as the shape of parcels as well as non-spatial variables such as ownership type and the existence or absence of road access for each land parcel. Furthermore, there is no flexibility for users to select the variables that they think appropriate for inclusion in the fragmentation index, and no variable weighting mechanism is available. The aim of this paper is to introduce a new ‘global land fragmentation index’ that combines a multi-attribute decision-making method with a geographic information system. When applied to a case study area in Cyprus, the new index outperforms the existing indices in terms of reliability as it is comprehensive, flexible, problem specific and knowledge-based. The methodology can be easily applied to assess the quality of any existing system for which evaluation criteria can be defined with values ranging from the worst to best conditions.     

Multi-sensor model-data fusion for estimation of hydrologic and energy flux parameters

Model-data fusion offers considerable promise in remote sensing for improved state and parameter estimation particularly when applied to multi-sensor image products. This paper demonstrates the application of a ‘multiple constraints’ model-data fusion (MCMDF) scheme to integrating AMSR-E soil moisture content (SMC) and MODIS land surface temperature (LST) data products with a coupled biophysical model of surface moisture and energy budgets for savannas of northern Australia. The focus in this paper is on the methods, difficulties and error sources encountered in developing an MCMDF scheme and enhancements for future schemes. An important aspect of the MCMDF approach emphasized here is the identification of inconsistencies between model and data, and among data sets.The MCMDF scheme was able to identify that an inconsistency existed between AMSR-E SMC and LST data when combined with the coupled SEB-MRT model. For the example presented, an optimal fit to both remote sensing data sets together resulted in an 84% increase in predicted SMC and 0.06% increase for LST relative to the fit to each data set separately. That is the model predicted on average cooler LST's (∼ 1.7 K) and wetter SMC values (∼ 0.04 g cm^− 3) than the satellite image products. In this instance we found that the AMSR-E SMC data on their own were poor constraints on the model. Incorporating LST data via the MCMDF scheme ameliorated deficiencies in the SMC data and resulted in enhanced characterization of the land surface soil moisture and energy balance based on comparison with the MODIS evapotranspiration (ET) product of Mu et al. [Mu, Q., Heinsch, F.A, Zhao, M. and Running, S.W. (in press), Development of a global evapotranspiration algorithm based on MODIS and global meteorology data, Remote Sensing of Environment.]. Canopy conductance, g_C, and latent heat flux, λE, from the MODIS ET product were in good agreement with RMSEs for g_C = 0.5 mm s^− 1 and for λE = 18 W m^− 2, respectively. Differences were attributable to a greater canopy-to-air vapor pressure gradient in the MCMDF approach obtained from a more realistic partitioning of soil surface and canopy temperatures.