A low-level control policy for data fusion

D. Langlois, E. A. Croft

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

2 Citations (Scopus)

Abstract

A procedure to regulate the feedback signals of multiple sensors, at different rates, inside of a low-level control loop using data fusion has been developed and tested in simulation. The procedure is independent of the fusion method, and applicable to sensors with widely different sampling rates. Thus, it permits the use of "secondary" sensors, which may be available to the system for other purposes, to monitor sensor fault or failure occurrence, provide smooth transition for the system on fault, and provide a way to dynamically reconfigure the sensing system based on sensor signals uncertainty. In this procedure, sensor signals are time-correlated using Kalman filters, before being fused together. To regulate the fused feedback signal when there is no data available from the slower sensors, a Kalman filter is used to observe and generate a prediction of the fused measurement signal in place of the slower sensors measurement. Since the slow sensor lag compensation and fused measurement stabilization are independent of the fusion process, any real-time data fusion process can be used with this procedure.

Original languageEnglish
Title of host publicationInternational Conference on Multisensor Fusion and Integration for Intelligent Systems 2001 Proceedings
Pages37-42
Number of pages6
Publication statusPublished - 1 Dec 2001
Externally publishedYes
EventIEEE International conference on Multisensor Fusion and Integration for Intelligent Systems 2001 - Baden-Baden, Germany
Duration: 20 Aug 200122 Aug 2001

Conference

ConferenceIEEE International conference on Multisensor Fusion and Integration for Intelligent Systems 2001
Abbreviated titleMFI 2001
CountryGermany
CityBaden-Baden
Period20/08/0122/08/01

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