Research on the Mechanism of Multi-Sensor Fusion Configuration Based on the Optimal Principle of the Vehicle

In order to address the issue of sensor configuration redundancy in intelligent driving,this paper constructs a multi-objective optimization model that considers cost,coverage ability,and perception performance.And then,combining a specific set of parameters,the NSGA-II algorithm is used to solve the multi-objective model established in this paper,and a Pareto front containing 24 typical configuration schemes is extracted after considering empirical constraints.Finally,using the decision preference method proposed in this paper that combines subjective and objective factors,decision scores are calculated and ranked for various configuration schemes from both cost and performance preferences.The research results indicate that the multi-objective optimization model established in this paper can screen and optimize various configuration schemes from the optimal principle of the vehicle,and the optimized configuration schemes can be quantitatively ranked to obtain the decision results for the vehicle under different preference tendencies.

State Estimation Method for GNSS/INS/Visual Multi-sensor Fusion Based on Factor Graph Optimization for Unmanned System

With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation systems can provide high-precision navigation information continuously.However,when this system is applied to indoor or GNSS-denied environments,such as outdoor substations with strong electromagnetic interference and complex dense spaces,it is often unable to obtain high-precision GNSS positioning data.The positioning and orientation errors will diverge and accumulate rapidly,which cannot meet the high-precision localization requirements in large-scale and long-distance navigation scenarios.This paper proposes a method of high-precision state estimation with fusion of GNSS/INS/Vision using a nonlinear optimizer factor graph optimization as the basis for multi-source optimization.Through the collected experimental data and simulation results,this system shows good performance in the indoor environment and the environment with partial GNSS signal loss.

Disparity estimation for multi-scale multi-sensor fusion

The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results of various sensors for the fusion of the detection layer.This paper proposes a multi-scale and multi-sensor data fusion strategy in the front end of perception and accomplishes a multi-sensor function disparity map generation scheme.A binocular stereo vision sensor composed of two cameras and a light deterction and ranging(LiDAR)sensor is used to jointly perceive the environment,and a multi-scale fusion scheme is employed to improve the accuracy of the disparity map.This solution not only has the advantages of dense perception of binocular stereo vision sensors but also considers the perception accuracy of LiDAR sensors.Experiments demonstrate that the multi-scale multi-sensor scheme proposed in this paper significantly improves disparity map estimation.

Research on Transmission Line Tower Tilting and Foundation State Monitoring Technology Based onMulti-Sensor Cooperative Detection and Correction

The transmission line tower will be affected by bad weather and artificial subsidence caused by the foundation and other factors in the power transmission.The tower’s tilt and severe deformation will cause the building to collapse.Many small changes caused the tower’s collapse,but the early staff often could not intuitively notice the changes in the tower’s state.In the current tower online monitoring system,terminal equipment often needs to replace batteries frequently due to premature exhaustion of power.According to the need for real-time measurement of power line tower,this research designed a real-time monitoring device monitoring the transmission tower attitude tilting and foundation state based on the inertial sensor,the acceleration of 3 axis inertial sensor and angular velocity raw data to pole average filtering pre-processing,and then through the complementary filtering algorithm for comprehensive calculation of tilt angle,the system meets the demand for inclined online monitoring of power line poles and towers regarding measurement accuracy,with low cost and power consumption.The optimization multi-sensor cooperative detection and correction measured tilt angle result relative accuracy can reach 1.03%,which has specific promotion and application value since the system has the advantages of unattended and efficient calculation.

A multi-sensor-based distributed real-time measurement system for glacier deformation

Glacier disasters occur frequently in alpine regions around the world,but the current conventional geological disaster measurement technology cannot be directly used for glacier disaster measurement.Hence,in this study,a distributed multi-sensor measurement system for glacier deformation was established by integrating piezoelectric sensing,coded sensing,attitude sensing technology and wireless communication technology.The traditional Modbus protocol was optimized to solve the problem of data identification confusion of different acquisition nodes.Through indoor wireless transmission,adaptive performance analysis,error measurement experiment and landslide simulation experiment,the performance of the measurement system was analyzed and evaluated.Using unmanned aerial vehicle technology,the reliability and effectiveness of the measurement system were verified on the site of Galongla glacier in southeastern Tibet,China.The results show that the mean absolute percentage errors were only 1.13%and 2.09%for the displacement and temperature,respectively.The distributed glacier deformation real-time measurement system provides a new means for the assessment of the development process of glacier disasters and disaster prevention and mitigation.

Mission scheduling of multi-sensor collaborative observation for space surveillance network

With increased dependence on space assets,scheduling and tasking of the space surveillance network(SSN)are vitally important.The multi-sensor collaborative observation scheduling(MCOS)problem is a multi-constraint and high-conflict complex combinatorial optimization problem that is nondeterministic polynomial(NP)-hard.This research establishes a sub-time window constraint satisfaction problem(STWCSP)model with the objective of maximizing observation profit.Considering the significant effect of genetic algorithms(GA)on solving the problem of resource allocation,an evolution heuristic(EH)algorithm containing three strategies that focus on the MCOS problem is proposed.For each case,a task scheduling sequence is first obtained via an improved GA with penalty(GAPE)algorithm,and then a mission planning algorithm(heuristic rule)is used to determine the specific observation time.Compared to the model without sub-time windows and some other algorithms,a series of experiments illustrate the STWCSP model has better performance in terms of total profit.Experiments about strategy and parameter sensitivity validate its excellent performance in terms of EH algorithms.

Progress and Achievements of Multi-sensor Fusion Navigation in China during 2019—2023

Global Navigation Satellite System(GNSS)can provide all-weather,all-time,high-precision positioning,navigation and timing services,which plays an important role in national security,national economy,public life and other aspects.However,in environments with limited satellite signals such as urban canyons,tunnels,and indoor spaces,it is difficult to provide accurate and reliable positioning services only by satellite navigation.Multi-source sensor integrated navigation can effectively overcome the limitations of single-sensor navigation through the fusion of different types of sensor data such as Inertial Measurement Unit(IMU),vision sensor,and LiDAR,and provide more accurate,stable and robust navigation information in complex environments.We summarizes the research status of multi-source sensor integrated navigation technology,and focuses on the representative innovations and applications of integrated navigation and positioning technology by major domestic scientific research institutions in China during 2019—2023.

APPLICATION OF MULTI-SENSOR DATA FUSION BASED ON FUZZY NEURAL NETWORK IN ROTA TING MECHANICAL FAILURE DIAGNOSIS

At present, multi-se nsor fusion is widely used in object recognition and classification, since this technique can efficiently improve the accuracy and the ability of fault toleranc e. This paper describes a multi-sensor fusion system, which is model-based and used for rotating mechanical failure diagnosis. In the data fusion process, the fuzzy neural network is selected and used for the data fusion at report level. By comparing the experimental results of fault diagnoses based on fusion data wi th that on original separate data,it is shown that the former is more accurate than the latter.

Research on Optimal Preload Method of Controllable Rolling Bearing Based on Multisensor Fusion

Angular contact ball bearings have been widely used in machine tool spindles,and the bearing preload plays an important role in the performance of the spindle.In order to solve the problems of the traditional optimal preload prediction method limited by actual conditions and uncertainties,a roller bearing preload test method based on the improved D-S evidence theorymulti-sensor fusion method was proposed.First,a novel controllable preload system is proposed and evaluated.Subsequently,multiple sensors are employed to collect data on the bearing parameters during preload application.Finally,a multisensor fusion algorithm is used to make predictions,and a neural network is used to optimize the fitting of the preload data.The limitations of conventional preload testing methods are identified,and the integration of complementary information frommultiple sensors is used to achieve accurate predictions,offering valuable insights into the optimal preload force.Experimental results demonstrate that the multi-sensor fusion approach outperforms traditional methods in accurately measuring the optimal preload for rolling bearings.

Data Fusion in Distributed Multi-sensor System

This paper presents a data fusion method in distributed multi-sensor system including GPS and INS sensors’ data processing. First, a residual χ 2 \|test strategy with the corresponding algorithm is designed. Then a coefficient matrices calculation method of the information sharing principle is derived. Finally, the federated Kalman filter is used to combine these independent, parallel, real\|time data. A pseudolite (PL) simulation example is given.

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.

A Novel Multi-sensor Data Fusion Algorithm and Its Application to Diagnostics

To Meet the requirements of multi-sensor data fusion in diagnosis for complex equipment systems,a novel, fuzzy similarity-based data fusion algorithm is given. Based on fuzzy set theory, it calculates the fuzzy similarity among a certain sensor's measurement values and the multiple sensor's objective prediction values to determine the importance weigh of each sensor,and realizes the multi-sensor diagnosis parameter data fusion.According to the principle, its application software is also designed. The applied example proves that the algorithm can give priority to the high-stability and high -reliability sensors and it is laconic ,feasible and efficient to real-time circumstance measure and data processing in engine diagnosis.

STUDY ON THE COAL-ROCK INTERFACE RECOGNITION METHOD BASED ON MULTI-SENSOR DATA FUSION TECHNIQUE

The coal-rock interface recognition method based on multi-sensor data fusiontechnique is put forward because of the localization of single type sensor recognition method. Themeasuring theory based on multi-sensor data fusion technique is analyzed, and hereby the testplatform of recognition system is manufactured. The advantage of data fusion with the fuzzy neuralnetwork (FNN) technique has been probed. The two-level FNN is constructed and data fusion is carriedout. The experiments show that in various conditions the method can always acquire a much higherrecognition rate than normal ones.

Data acquisition,analysis and applications of multi-sensor integration

This paper presents some key techniques for multi-sensor integration system, which is applied to the intelligent transportation system industry and surveying and mapping industry, e.g. road surface condition detection, digital map making. The techniques are synchronization control of multi-sensor, space-time benchmark for sensor data, and multi-sensor data fusion and mining. Firstly, synchronization control of multi-sensor is achieved through a synchronization control system which is composed of a time synchronization controller and some synchronization sub-controllers. The time synchronization controller can receive GPS time information from GPS satellites, relative distance information from distance measuring instrument and send space-time information to the synchronization sub-controller. The latter can work at three types of synchronization mode, i.e. active synchronization, passive synchronization and time service synchronization. Secondly, space-time benchmark can be established based on GPS time and global reference coordinate system, and can be obtained through position and azimuth determining system and synchronization control system. Thirdly, there are many types of data fusion and mining, e.g. GPS/Gyro/DMI data fusion, data fusion between stereophotogrammetry and PADS, data fusion between laser scanner and PADS, and data fusion between CCD camera and laser scanner. Finally, all these solutions presented in paper have been applied to two areas, i.e. land-bone intelligent road detection and measurement system and 3D measurement system based on unmanned helicopter. The former has equipped some highway engineering Co. , Ltd. and has been successfully put into use. The latter is an ongoing resealch.

Multi-sensor measurement and data fusion technology for manufacturing process monitoring:a literature review

Due to the rapid development of precision manufacturing technology,much research has been conducted in the field of multisensor measurement and data fusion technology with a goal of enhancing monitoring capabilities in terms of measurement accuracy and information richness,thereby improving the efficiency and precision of manufacturing.In a multisensor system,each sensor independently measures certain parameters.Then,the system uses a relevant signalprocessing algorithm to combine all of the independent measurements into a comprehensive set of measurement results.The purpose of this paper is to describe multisensor measurement and data fusion technology and its applications in precision monitoring systems.The architecture of multisensor measurement systems is reviewed,and some implementations in manufacturing systems are presented.In addition to the multisensor measurement system,related data fusion methods and algorithms are summarized.Further perspectives on multisensor monitoring and data fusion technology are included at the end of this paper.

A Distributed Cooperative Localization Algorithm for Mobile Multi-platforms Oriented to Unpredicted Communication Topology

The cooperative localization(CL)is affected by the communication topology among the platforms.Based on the unscented Kalman filtering,the distributed CL(DCL)oriented to the unpredicted communication topology is investigated.To improve the adaptability,the character of the look-up Cholesky decomposition is exploited for the covariance matrix decomposing.Then,the distributed U transformation can be dynamically implemented according to the available communication topology.In the proposed algorithm,the global information is not required for the individual,and only the available information from the neighbor is used.Each platform’s state can be estimated independently.The error covariance of the state estimates can be updated in the single platform.The algorithm is adaptive to any serial communication topologies where the measuring to the measured platform is a starting path.The applicability of the proposed algorithm to unpredicted communication topology is improved,remaining equivalent localization performance to free connection communication.

A novel multi-sensor multiple model particle filter with correlated noises for maneuvering target tracking

Aiming at the effective realization of particle filter for maneuvering target tracking in multi-sensor measurements,a novel multi-sensor multiple model particle filtering algorithm with correlated noises is proposed.Combined with the kinetic evolution equation of target state,a multi-sensor multiple model particle filter is firstly constructed,which is also used as the basic framework of a new algorithm.In the new algorithm,in order to weaken the adverse influence from random measurement noises in the measuring process of particle weight,a weight optimization strategy is introduced to improve the reliability and stability of particle weight.In addition,considering the correlated noise existing in the practical engineering,a decoupling method of correlated noise is given by the rearrangement and transformation of the state transition equation and measurement equation.Since the weight optimization strategy and noise decoupling method adopt respectively the center fusion structure and the off-line way,it improves the adverse effect effectively on computational complexity for increasing state dimension and sensor number.Finally,the theoretical analysis and experimental results show the feasibility and efficiency of the proposed algorithm.

Data Cleaning Based on Stacked Denoising Autoencoders and Multi-Sensor Collaborations

Wireless sensor networks are increasingly used in sensitive event monitoring.However,various abnormal data generated by sensors greatly decrease the accuracy of the event detection.Although many methods have been proposed to deal with the abnormal data,they generally detect and/or repair all abnormal data without further differentiate.Actually,besides the abnormal data caused by events,it is well known that sensor nodes prone to generate abnormal data due to factors such as sensor hardware drawbacks and random effects of external sources.Dealing with all abnormal data without differentiate will result in false detection or missed detection of the events.In this paper,we propose a data cleaning approach based on Stacked Denoising Autoencoders(SDAE)and multi-sensor collaborations.We detect all abnormal data by SDAE,then differentiate the abnormal data by multi-sensor collaborations.The abnormal data caused by events are unchanged,while the abnormal data caused by other factors are repaired.Real data based simulations show the efficiency of the proposed approach.

Applications of state estimation in multi-sensor information fusion for the monitoring of open pit mine slope deformation

The traditional open pit mine slope deformation monitoring system can not use the monitoring information coming from many monitoring points at the same time, can only using the monitoring data coming from a key monitoring point,and that is to say it can only handle one-dimensional time series.Given this shortage in the monitoring, the multi-sensor information fusion in the state estimation techniques would be intro- duced to the slope deformation monitoring system,and by the dynamic characteristics of deformation slope,the open pit slope would be regarded as a dynamic goal,the condi- tion monitoring of which would be regarded as a dynamic target tracking.Distributed In- formation fusion technology with feedback was used to process the monitoring data and on this basis Klman filtering algorithms was introduced,and the simulation examples was used to prove its effectivenes.

An Indoor Pedestrian Localization Algorithm Based on Multi-Sensor Information Fusion

For existing indoor localization algorithm has low accuracy, high cost in deployment and maintenance, lack of robustness, and low sensor utilization, this paper proposes a particle filter algorithm based on multi-sensor fusion. The pedestrian’s localization in indoor environment is described as dynamic system state estimation problem. The algorithm combines the smart mobile terminal with indoor localization, and filters the result of localization with the particle filter. In this paper, a dynamic interval particle filter algorithm based on pedestrian dead reckoning (PDR) information and RSSI localization information have been used to improve the filtering precision and the stability. Moreover, the localization results will be uploaded to the server in time, and the location fingerprint database will be built incrementally, which can adapt the dynamic changes of the indoor environment. Experimental results show that the algorithm based on multi-sensor improves the localization accuracy and robustness compared with the location algorithm based on Wi-Fi.