Multi-sensor optimal weighted fusion incremental Kalman smoother

In practical applications, the system observation error is widespread. If the observation equation of the system has not been verified or corrected under certain environmental conditions,the unknown system errors and filtering errors will come into being.The incremental observation equation is derived, which can eliminate the unknown observation errors effectively. Furthermore, an incremental Kalman smoother is presented. Moreover, a weighted measurement fusion incremental Kalman smoother applying the globally optimal weighted measurement fusion algorithm is given.The simulation results show their effectiveness and feasibility.

Self-tuning weighted measurement fusion Kalman filter and its convergence

For multisensor systems,when the model parameters and the noise variances are unknown,the consistent fused estimators of the model parameters and noise variances are obtained,based on the system identification algorithm,correlation method and least squares fusion criterion.Substituting these consistent estimators into the optimal weighted measurement fusion Kalman filter,a self-tuning weighted measurement fusion Kalman filter is presented.Using the dynamic error system analysis （DESA） method,the convergence of the self-tuning weighted measurement fusion Kalman filter is proved,i.e.,the self-tuning Kalman filter converges to the corresponding optimal Kalman filter in a realization.Therefore,the self-tuning weighted measurement fusion Kalman filter has asymptotic global optimality.One simulation example for a 4-sensor target tracking system verifies its effectiveness.

ADAPTIVE FUSION ALGORITHMS BASED ON WEIGHTED LEAST SQUARE METHOD

Weighted fusion algorithms, which can be applied in the area of multi-sensor data fusion, are advanced based on weighted least square method. A weighted fusion algorithm, in which the relationship between weight coefficients and measurement noise is established, is proposed by giving attention to the correlation of measurement noise. Then a simplified weighted fusion algorithm is deduced on the assumption that measurement noise is uncorrelated. In addition, an algorithm, which can adjust the weight coefficients in the simplified algorithm by making estimations of measurement noise from measurements, is presented. It is proved by emulation and experiment that the precision performance of the multi-sensor system based on these algorithms is better than that of the multi-sensor system based on other algorithms.

Weighted Multi-sensor Data Level Fusion Method of Vibration Signal Based on Correlation Function

As the differences of sensor＇s precision and some random factors are difficult to control,the actual measurement signals are far from the target signals that affect the reliability and precision of rotating machinery fault diagnosis.The traditional signal processing methods,such as classical inference and weighted averaging algorithm usually lack dynamic adaptability that is easy for trends to cause the faults to be misjudged or left out.To enhance the measuring veracity and precision of vibration signal in rotary machine multi-sensor vibration signal fault diagnosis,a novel data level fusion approach is presented on the basis of correlation function analysis to fast determine the weighted value of multi-sensor vibration signals.The approach doesn＇t require knowing the prior information about sensors,and the weighted value of sensors can be confirmed depending on the correlation measure of real-time data tested in the data level fusion process.It gives greater weighted value to the greater correlation measure of sensor signals,and vice versa.The approach can effectively suppress large errors and even can still fuse data in the case of sensor failures because it takes full advantage of sensor＇s own-information to determine the weighted value.Moreover,it has good performance of anti-jamming due to the correlation measures between noise and effective signals are usually small.Through the simulation of typical signal collected from multi-sensors,the comparative analysis of dynamic adaptability and fault tolerance between the proposed approach and traditional weighted averaging approach is taken.Finally,the rotor dynamics and integrated fault simulator is taken as an example to verify the feasibility and advantages of the proposed approach,it is shown that the multi-sensor data level fusion based on correlation function weighted approach is better than the traditional weighted average approach with respect to fusion precision and dynamic adaptability.Meantime,the approach is adaptable and easy to use,can be applied to other areas of vibration measurement.

APPLICATION OF FUZZY LOGIC IN WEIGHTED INFORMATION FUSION OF HAND GEOMETRY AND PALM PRINTS

Based on the theory of fuzzy logic, the method of obfuscating coefficient and reliability to fuse the information of hand geometry and palm prints for identity discrimination is proposed. The experiment proves that the method is useful and effective. Its identification rate is up to 90%, which is 20%-30% higher than that of using hand geometry or palm prints singly,thus it can be widely used in highly demanded security field, such as finance, entrance guard, etc.

Dynamic weighted voting for multiple classifier fusion:a generalized rough set method

To improve the performance of multiple classifier system, a knowledge discovery based dynamic weighted voting （KD-DWV） is proposed based on knowledge discovery. In the method, all base classifiers may be allowed to operate in different measurement/feature spaces to make the most of diverse classification information. The weights assigned to each output of a base classifier are estimated by the separability of training sample sets in relevant feature space. For this purpose, some decision tables （DTs） are established in terms of the diverse feature sets. And then the uncertainty measures of the separability are induced, in the form of mass functions in Dempster-Shafer theory （DST）, from each DTs based on generalized rough set model. From the mass functions, all the weights are calculated by a modified heuristic fusion function and assigned dynamically to each classifier varying with its output. The comparison experiment is performed on the hyperspectral remote sensing images. And the experimental results show that the performance of the classification can be improved by using the proposed method compared with the plurality voting （PV）.

Weight Data Fusion Based on Mutual Support Applied in Large Diameter Measurement

The on-line diameter measurement of larger axis workpieces is hard to achieve high precision detection, because of the bad environment of locale, the problem to amend the measuring error by non-uniform temperature field, and the difficulty to collimate and locate by usual method. By improving the measurement accuracy of larger axis accessories, it is useful to raise axis and hole＇s industry produce level. Because of the influence of complex environment in locale and some influential factors which are hard excluded from the large diameter measurement with multi-rolling-wheels method, the measurement results may not support or even contradict each other. To the situation, this paper puts forward a mutual support deviation distinguish data fusion method, including mutual support deviation detection and weight data fusion. The mutual support deviation detection part can effectively remove or weaken the unexpected impact on the measurement results and the weight data fusion part can get more accurate estimate result to the detected data. So the method can further improve the reliability of measurement results and increase the accuracy of the measurement system. By using the weight data fusion based on the mutual support （DFMS） to the simulation and experiment data, both simulation results and experiment results show that the method can effectively distinguish the data influenced by unexpected impact and improve the stability and reliability of measurement results. The new provided mutual support deviation distinguish method can be used to single sensor measurement and multi-sensor measurement, and can be used as a reference in the data distinguish of other area. The DFMS is helpful to realize the diameter measurement expanded uncertainty in 5 ×10^-6D or even higher when the measured axis workpiece＇s diameter is 1-5 m （ 1 m ≤ D ≤5 m ）.

A new PQ disturbances identification method based on combining neural network with least square weighted fusion algorithm

A new method for power quality (PQ) disturbances identification is brought forward based on combining a neural network with least square (LS) weighted fusion algorithm. The characteristic components of PQ disturbances are distilled through an improved phase-located loop (PLL) system at first, and then five child BP ANNs with different structures are trained and adopted to identify the PQ disturbances respectively. The combining neural network fuses the identification results of these child ANNs with LS weighted fusion algorithm, and identifies PQ disturbances with the fused result finally. Compared with a single neural network, the combining one with LS weighted fusion algorithm can identify the PQ disturbances correctly when noise is strong. However, a single neural network may fail in this case. Furthermore, the combining neural network is more reliable than a single neural network. The simulation results prove the conclusions above.

Application of fuzzy logic in weighted information of fusion fingerprints and palm prints

It is a developing job to distinguish identifications with information fusion of fingerprints and palm prints. It is also a very effective way to resolve the problem of low identification rate and low stability of single biology characteristic identification. Based on the theory of fuzzy logic theory, we bring out the method of obfuscating weigh coefficient and reliability to fuse the information of fingerprints and palm prints to realize high identification rate. The experiment proves the feasibility and effectiveness of this method and the identification rate can be more than 90%, which contributes useful experience to the research of identification using biology characteristics.

基于改进DETR的机器人铆接缺陷检测方法研究

铆接作为铁道车辆结构件的主要连接方式,合格的铆接质量是车辆安全稳定运行的重要保证。针对现有铆接缺陷检测方法存在检测精度低、检测点位少、检测智能化水平不高等问题,提出一种基于改进DETR的机器人铆接缺陷检测方法。首先,搭建铆接缺陷检测系统,依次采集工件尺寸大、铆钉尺寸小工况下的铆接缺陷图像。其次,为了增强DETR模型在小目标中的图像特征提取能力和检测性能,以EfficientNet作为DETR中的主干特征提取网络,并将3-D权重注意力机制SimAM引入EfficientNet网络,从而有效保留图像特征层的镦头形态信息和铆点区域的空间信息。然后,在颈部网络中引入加权双向特征金字塔模块,以EfficientNet网络的输出作为特征融合模块的输入对各尺度特征信息进行聚合,增大不同铆接缺陷的类间差异。最后,利用Smooth L1和DIoU的线性组合改进原模型预测网络的回归损失函数,提高模型的检测精度和收敛速度。结果表明,改进模型表现出较高的检测性能,对于铆接缺陷的平均检测精度mAP为97.12%,检测速度FPS为25.4帧/s,与Faster RCNN、YOLOX等其他主流检测模型相比,在检测精度和检测速度方面均具有较大优势。研究结果能够满足实际工况中大型铆接件的小尺寸铆钉铆接缺陷实时在线检测的需求,为视觉检测技术在铆接工艺中的应用提供一定的参考价值。

Missing Value Imputation for Radar-Derived Time-Series Tracks of Aerial Targets Based on Improved Self-Attention-Based Network

The frequent missing values in radar-derived time-series tracks of aerial targets(RTT-AT)lead to significant challenges in subsequent data-driven tasks.However,the majority of imputation research focuses on random missing(RM)that differs significantly from common missing patterns of RTT-AT.The method for solving the RM may experience performance degradation or failure when applied to RTT-AT imputation.Conventional autoregressive deep learning methods are prone to error accumulation and long-term dependency loss.In this paper,a non-autoregressive imputation model that addresses the issue of missing value imputation for two common missing patterns in RTT-AT is proposed.Our model consists of two probabilistic sparse diagonal masking self-attention(PSDMSA)units and a weight fusion unit.It learns missing values by combining the representations outputted by the two units,aiming to minimize the difference between the missing values and their actual values.The PSDMSA units effectively capture temporal dependencies and attribute correlations between time steps,improving imputation quality.The weight fusion unit automatically updates the weights of the output representations from the two units to obtain a more accurate final representation.The experimental results indicate that,despite varying missing rates in the two missing patterns,our model consistently outperforms other methods in imputation performance and exhibits a low frequency of deviations in estimates for specific missing entries.Compared to the state-of-the-art autoregressive deep learning imputation model Bidirectional Recurrent Imputation for Time Series(BRITS),our proposed model reduces mean absolute error(MAE)by 31%~50%.Additionally,the model attains a training speed that is 4 to 8 times faster when compared to both BRITS and a standard Transformer model when trained on the same dataset.Finally,the findings from the ablation experiments demonstrate that the PSDMSA,the weight fusion unit,cascade network design,and imputation loss enhance imputation performance and confirm the efficacy of our design.

基于改进的YOLOv5安全帽佩戴检测算法

针对安全帽佩戴检测中存在的误检和漏检的问题,提出一种基于YOLOv5模型改进的安全帽佩戴检测算法。改进模型引入多尺度加权特征融合网络,即在YOLOv5的网络结构中增加一个浅层检测尺度,并引入特征权重进行加权融合,构成新的四尺检测结构,有效地提升图像浅层特征的提取及融合能力;在YOLOv5的Neck网络的BottleneckCSP结构中加入SENet模块,使模型更多地关注目标信息忽略背景信息;针对大分辨率的图像,添加图像切割层,避免多倍下采样造成的小目标特征信息大量丢失。对YOLOv5模型进行改进之后,通过自制的安全帽数据集进行训练检测,mAP和召回率分别达到97.06%、92.54%,与YOLOv5相比较分别提升了4.74%和4.31%。实验结果表明:改进的YOLOv5算法可有效提升安全帽佩戴的检测性能,能够准确识别施工人员的安全帽佩戴情况,从而大大降低施工现场的安全风险。

改进YOLOv5的无人机航拍图像目标检测算法

针对无人机航拍图像目标检测中目标尺度多样、相似目标众多、目标聚集导致的目标漏检、误检问题,提出了改进YOLOv5的无人机航拍图像目标检测算法DA-YOLO。提出由特征图注意力生成器和动态权重学习模块组成的多尺度动态特征加权融合网络,特征图注意力生成器融合处理不同尺度目标更重要的特征,权重学习模块自适应地调节对不同尺度目标特征的学习,该网络可增强在目标尺度多样下的辨识度从而降低目标漏检。设计一种并行选择性注意力机制(PSAM)添加到特征提取网络中,该模块通过动态融合空间信息和通道信息,加强特征的表达获得更优质的特征图,提高网络对相似目标的区分能力以减少误检。使用Soft-NMS代替YOLOv5中采用的非极大值抑制(NMS)以改善目标聚集场景下的漏检、误检。实验结果表明,改进算法在VisDrone数据集上检测精度达到37.79%,相比于YOLOv5s算法精度提高了5.59个百分点,改进后的算法可以更好地应用于无人机航拍图像目标检测中。

自适应相似图联合优化的多视图聚类

相比于单一视图学习,多视图学习往往可以获得学习对象更全面的信息,因而在无监督学习领域,多视图聚类受到了研究者的极大关注,其中基于图的多视图聚类,近年来取得了很大的研究进展.基于图的多视图聚类一般是先从各个视图原始数据学习相似图,再进行视图间相似图的融合来获得最终聚类结果,因此,多视图聚类的效果是由相似图质量和相似图融合方法共同决定的.然而,现有基于图的多视图聚类方法几乎都聚焦在视图间相似图的融合方法研究上,而缺乏对相似图本身质量的关注.这些方法大多数都是孤立地从各视图的原始数据中学习相似图,并且在后续图融合过程中保持相似图不变.这样得到的相似图不可避免地包含噪声和冗余信息,进而影响后续的图融合和聚类.而少量考虑相似图质量的研究,要么相似图构造和图融合过程是直接联立迭代的,要么在预定义相似图过程中提前利用秩约束进一步初始化,要么就是利用相似图存在的一些底层结构来获取融合图的.这些方法对相似图本身改进很小,最终聚类性能提升也十分有限.同时现有基于图的多视图聚类流程也缺乏对各视图间一致性和不一致性的综合考虑,这也会严重影响最终的多视图聚类性能.为了避免低质量预定义相似图对聚类结果的不利影响以及综合考虑视图间一致性与不一致性来提升最终聚类效果,本文提出了一种自适应相似图联合优化的多视图聚类方法.首先通过Hadamard积来获得视图间高质量一致性部分信息,再将每个预定义相似图和这部分信息对标,重构各个视图的预设相似图.这个过程强化了各视图间的一致性部分,弱化了不一致性部分.其次设计了相似图重构改进和图融合联合迭代优化框架,实现了相似图的自适应改进,最终达到相似图和聚类结果共同提升的效果.该方法将相似图改进过程与图融合过程联合起来进行自适应迭代优化,并且在迭代优化中不断强化各视图间的一致性,弱化视图间的不一致性.此外,本文的方法也集成了现有多视图聚类方法的一些优点,自加权以及无需额外聚类步骤等.在九个基准数据集上与八个对比方法的实验验证了本文方法的有效性与优越性.

基于物联网技术的智能楼宇监测系统设计

针对目前智能楼宇监测中数据可靠性低、测量点位分散、数据传输实时性不高和误报频繁等问题,提出基于物联网(Internet of Things,IoT)技术的智能楼宇监测系统设计。首先,采用ZigBee技术组建无线传感器网络,实现分散点位传感器数据的收集,并将数据通过网关传输到物联网云平台。其次,利用改进的自适应加权算法融合传感器数据,有效提升多传感器检测数据的准确性。系统云平台能够分析和展示传感器数据,而且能够实时查看待测区域的视频图像,预留数据分析接口。应用表明,系统数据测量准确、相对误差较低、稳定性较好。

Diffusion-weighted magnetic resonance imaging reflects activation of signal transducer and activator of transcription 3 during focal cerebral ischemia/reperfusion

Signal transducer and activator of transcription（STAT）is a unique protein family that binds to DNA,coupled with tyrosine phosphorylation signaling pathways,acting as a transcriptional regulator to mediate a variety of biological effects.Cerebral ischemia and reperfusion can activate STATs signaling pathway,but no studies have confirmed whether STAT activation can be verified by diffusion-weighted magnetic resonance imaging（DWI）in rats after cerebral ischemia/reperfusion.Here,we established a rat model of focal cerebral ischemia injury using the modified Longa method.DWI revealed hyperintensity in parts of the left hemisphere before reperfusion and a low apparent diffusion coefficient.STAT3 protein expression showed no significant change after reperfusion,but phosphorylated STAT3 expression began to increase after 30 minutes of reperfusion and peaked at 24 hours.Pearson correlation analysis showed that STAT3 activation was correlated positively with the relative apparent diffusion coefficient and negatively with the DWI abnormal signal area.These results indicate that DWI is a reliable representation of the infarct area and reflects STAT phosphorylation in rat brain following focal cerebral ischemia/reperfusion.

融合摄食过程声像特征的鱼类摄食强度量化方法研究

基于鱼类摄食行为反馈的精准投喂是确保饲料高效利用与降低水体污染的有效手段,针对当前单一传感器难以精确测量鱼群摄食强度的难题,提出一种基于摄食过程声像特征融合的鱼类摄食强度量化方法。首先利用深度图包含的三维空间信息分析水体表层摄食鱼类数量,设计基于帧间差分运算的深度图能量变化测量系统表征鱼群摄食活跃程度;进而利用近红外光源因水面反射而导致的高亮度饱和点在近红外图中的位置变化测量水体流场的波动程度;同时利用音轨记录仪存储摄食音频。最后通过加权融合方式,综合摄食动态、水体流场变化、摄食音频三类具有不同物理属性的特征信息,精确量化了鱼群摄食强度,总体识别精确度达到97%。本文采用新的成像技术,取得分析速度与分析精度的最佳平衡,为精准投喂提供了一种鲁棒性强、分析速度快的实用方法。

多尺度增强特征融合的钢表面缺陷目标检测

针对轻量级目标检测算法在钢表面缺陷检测任务中识别精度低的问题,提出一种多尺度增强特征融合的钢表面缺陷目标检测算法。该算法采用提出的自适应加权融合模块为不同层级特征自适应计算融合权重,将深层语义与浅层细节进行加权融合,使得浅层特征在不丢失细节信息的同时获得丰富的深层语义。利用提出的空间特征增强模块从3个独立方向强化融合特征,通过引出残差旁路增强网络结构的稳定性,使卷积过程能够挖掘到更多的关键信息。根据先验框与真实框的整体交并程度为模型选择更为合适的训练样本。实验结果表明,该算法的检测精度达到80.47%,相比原始算法提升6.81%。该算法的参数量为2.36 M,计算量为952.67 MFLOPs,能快速且高精度检测钢材表面的缺陷信息,具有较高的应用价值。

基于Hall和GMR的多传感器融合方法及实现

目前霍尔传感器(Hall)和巨磁阻(GMR)传感器均广泛地应用于电力系统电流测量。为同时发挥二者的优势、降低各自的局限性,在分析Hall和GMR的温度特性、噪声特性和被测电流范围的基础上,提出了一种基于Hall和GMR的多传感器融合方案。在定义GMR和Hall的灵敏度差值ΔS基础上,将被测电流i和灵敏度差值ΔS构成的融合域划分为四个域,在域Ⅱ采用多传感加权观测融合Kalman滤波算法,将Hall和GMR的观测量和观测噪声融合后与状态方程联立进行Kalman滤波;在域Ⅰ采用数据加权融合最优权值分配的方法,给Hall的测量数据赋予较大权值,GMR的测量数据赋予较小的权值;在域Ⅲ,权值分配情况相反,各域之间可实现数据融合的平滑过渡。基于多传感器融合方法,设计了一种组合式闭环电流传感器,包括磁芯、电路部分设计及仿真。仿真和样机实验结果表明,在域Ⅱ时多传感器融合值与真实值的均方根误差低至0.004;在域Ⅰ、Ⅲ时电流测量的相对误差E_(i)均在0.255%以下。与单一传感器相比,多传感器融合的方法使组合式传感器测量电流范围增大,适用于温度变化范围较大的场景,电流测量精度及可信度更高。

多源数据加权融合的城市建成区改进指数评估

针对多源数据提取建成区的研究大多集中在等权融合方向,缺乏考虑不同数据源包含的信息量差异的问题,通过多源数据加权融合方法对前人的城市建成区提取指数进行改进,以改善不同质量级数据直接融合导致建成区提取不准确的问题。首先,构建融合夜间灯光数据、NDVI数据、路网数据和POI数据的改进PREANI指数;其次,融入不透水面数据和温度数据构建无权指数UCI和有权指数WCI;最后,选择迭代法和动态阈值法提取建成区,并对3种指数分别进行评估。结果表明:改进PREANI的Kappa系数为0.80,UCI融入温度和不透水面数据将Kappa系数提高至0.83;WCI提取的建成区轮廓更准确,在增强城乡建成区细部对比、提升边缘地物区分能力方面表现良好,其Kappa系数、查全率、查准率和F1分数均在0.85以上。