CN106156790A - A kind of distributed collaborative algorithm being applied to sensor network and data syncretizing mechanism - Google Patents
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Abstract
nullThe present invention relates to sensing data processing technology field,A kind of distributed collaborative algorithm being applied to sensor network and data syncretizing mechanism,Including sensor-level data fusion and data fusion at central level,Method is: sensor-level data fusion realizes the data prediction to sensor acquisition and extracts the different characteristic amount of system under test (SUT),The system under test (SUT) characteristic quantity of data fusion at central level integration sensor-level data fusion obtains the state estimation of system under test (SUT) more accurately,The method of the present invention uses the result of the modified result sensor-level data fusion of data fusion at central level,Method for Single Sensor System precision can be solved low、The problem that information is single and data fusion is computationally intensive,Can be widely applied to multi-source image be combined、Robot and communication in intelligent instrument system、Battlefield and UAV、Graphical analysis and understanding、Object detecting and tracking、In automatic target detection.
Description
Technical field
The present invention relates to sensing data processing technology field, a kind of distributed association being applied to sensor network
Make algorithm and data syncretizing mechanism.
Background technology
The information that multiband information or the different classes of sensor of single-sensor are provided by data fusion is in addition comprehensive,
Eliminate redundancy that may be present and contradiction between multi-sensor information, in addition complementary, improve promptness that remote sensing information extracts and
Reliability, improves the service efficiency of data.Data fusion is applied in military target identification field the earliest, the most extensively should
Be used in that multi-source image is compound, robot and communication in intelligent instrument system, battlefield and UAV, graphical analysis and understanding, target
Detect and in tracking, automatic target detection.
Existing Data fusion technique is usually sensor-level data fusion result for data fusion process at central level, and
The result of data fusion at central level is directly as final fusion results, and this technology belongs to the Data fusion technique of open loop, tool
Have that fusion results precision is low, the shortcoming of poor reliability.
Summary of the invention
Present invention aim to address that in data fusion process, data fusion at central level cannot be used for revising sensor progression
The fusion accuracy caused according to the result merged is low, the problem of poor reliability, it is proposed that a kind of distribution being applied to sensor network
Formula cooperation algorithm and data syncretizing mechanism, mainly include (1) sensor-level data fusion;(2) data fusion at central level.
Described sensor-level data fusion specifically includes following steps:
(21). obtained by sensor and sufficiently measure initial data, and reject the abnormal data in measurement, for non-thread
Property sensor measurement model, model can be made to carry out linearisation near certain nominal value, the most again by linear measurement model
Solve;
(22). assuming that linear sensor measurement model is s=H θ, H is the input quantity of sensor, H be a full rank N ×
The observing matrix (N > P) of P, H is made up of observation sample, if s=[s [0], s [1] ..., s [N-1]]TIt it is the model of sensor
Output, s is the matrix of N × 1, x=[x [0], x [1] ..., x [N-1]]TBeing the measurement amount of sensor output, θ is biography to be asked
The parameter model of sensor, θ is the matrix of P × 1;
(23). obtain measurement amount x of sensor output by linear weighted function mode and passed by linear sensor measurement model
Difference J (θ) of the s that sensor linear measurement model solution goes out, if W is the diagonal matrix of N × N, W=C-1, C represents zero mean noise
Covariance matrix;
(24). solve J (θ) function gradient to θ variable;
(25). make the gradient of J (θ) function be equal to 0, can be in the hope of the estimated value of linear sensor measurement model
(26) if. during Ce Lianging, noise is incoherent, then C estimator is diagonal matrix, makes C [n]=diag
(σ0, σ1..., σn),Wherein H [n] is the matrix of n × p, hT[n] is the matrix of 1 × p, X [n]=[x
[0], x [1] ..., x [n]]T, then have estimatorC [n] is to make an uproar
The covariance matrix of sound, least squares estimatorCovariance matrix be
(27). calculate estimatorRenewal with the covariance ∑ [n] of least squares estimator;
The renewal of estimator is calculated as follows:
Wherein
The renewal of the covariance of least squares estimator is as follows:
∑ [n]=(I-K [n] hT[n])∑[n-1]。
(28). the state estimation that heterogeneity or same nature sensor are obtained is carried out Dempster-Shafer number
Initial condition is provided according to being fused to data fusion at central level.
Described data fusion at central level comprises the following steps:
(31). set up state equation and the measurement equation of the system that is observed.
If system state equation is xk=Axk-1+Buk-1+wk-1, measurement equation is yk=Cxk-1+vk, wherein xkBe by
(x1, k, x2, k..., xN, k) composition N × 1 state variable, ukIt is (u1, k, u2, k... uL, k) input vector of L × 1 that forms,
ykBy (y1, k, y2, k... yM, k) observation vector of M × 1 that forms, wkIt is by (w1, k, w2, k... wN, k) composition N × 1 process
Noise vector, vkIt is by (v1, k, v2, k... vM, k) the measurement noise vector of M × 1 that forms, A is the state transfer square of N × N
Battle array, B is the input relational matrix of N × L, and C is that M × N measures relational matrix;
(32). on the basis of-1 state variable optimal estimation value of kth, utilize the state equation of system to predict kth
The prior state value in moment.
Pk -=APk-1AT+ Q, whereinRepresent the priori estimates of kth moment state variable,Represent the optimal estimation value of kth-1 moment state variable,Represent kth moment priori to estimate
The covariance matrix of meter error,Represent the covariance matrix of kth moment Posterior estimator error,
Q=E [wkwk T] represent the covariance that process noise is vectorial.
(33). utilize actual measured value correction previous step to predict the state priori estimates obtainedObtain system mode
Optimal estimation value
Kk=Pk -CT(CPk -CT+R)-1,Pk=(I-KkC)Pk -, wherein R=E [vkvk T] represent
Measure the covariance of noise vector.
(34). in order to avoid matrix inversion operation, use scalar facture successively to process, it is assumed that each measures noise
Between relevant, carry out Orthogonal Decomposition, R=MDM to measuring noise covariance RT, wherein M is orthogonal matrix, D=diag (σ1,
σ2..., σM) it is diagonal matrix, measurement equation is carried out matrixing MTyk=MTCxk-1+MTvk, define new observation vector yk'=
MTyk, calculation matrix C '=MTC, measures noise vector vk'=MTvk, the new covariance measuring noise vector is R=E [vk′vk
′T]=E [MTvkvk TM]=MTRM=D, remembers calculation matrixyk'=(y1, k', y2, k' ..., yM, k'),P0, k=Pk -, then can carry out state with following scalar algorithm and be corrected with mean squared error matrix:PM, k=(I-kM, kcm′)PM-1, k, wherein m
=1,2 ..., M,Pk=PM, k。
(35). use data fusion result at central level to go to revise the result of sensor-level data fusion.
The beneficial outcomes that the present invention brings: the present invention uses the modified result sensor-level data of data fusion at central level to melt
That close as a result, it is possible to solve the problem that Method for Single Sensor System precision is low, information is single and data fusion is computationally intensive, can be extensive
Be applied to that multi-source image is compound, robot and communication in intelligent instrument system, battlefield and UAV, graphical analysis and understanding, mesh
Mark detects and in tracking, automatic target detection.
Accompanying drawing explanation
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings.
Fig. 1 is data fusion the general frame of the present invention.
Fig. 2 is the flow chart of sensor-level data fusion.
Fig. 3 is the flow chart that sensor measurement model is set up.
Fig. 4 is the flow chart rejecting sensor abnormality measurement data.
Fig. 5 is the flow chart of data fusion at central level.
Detailed description of the invention
Fig. 1 is data fusion overall pattern of the present invention, and wherein sensor-level data fusion is distributed in different tested by fusion
The different classes of sensor of object obtains being observed the measurement noise variance of the Partial State Information of system and sensor, at central level
Data fusion provides initial condition, and data fusion at central level passes through the Fuzzy Kalman Filter result to sensor-level data fusion
It is filtered processing the status information of the system under test (SUT) obtaining optimum, uses the modified result sensor-level of data fusion at central level
The result of data fusion.
Fig. 2 is the flow chart of sensor-level data fusion, and wherein same tested state is measured by homogeneity sensor, carries
The credibility of high tested state, different tested states is measured by Heterogeneous Sensor, it is provided that more fully system mode letter
The system state data that breath, homogeneity sensor and Heterogeneous Sensor are measured is central authorities by Dempster-Shafer data fusion
DBMS merges provides initial condition.Sensor-level data fusion specifically includes following steps:
(21). initially setting up the measurement model of sensor, particular flow sheet is shown in Fig. 3, for nonlinear sensor measurement
Model, can make model carry out linearisation near certain nominal value, solve by linear measurement model, by passing
Sensor obtains and sufficiently measures initial data, and rejects the abnormal data in measurement.For time-invariant system, sensor abnormality is surveyed
The idiographic flow that amount data are rejected is shown in Fig. 4, can first obtain average α and the variances sigma of tested state, then by sensor measurement number
Average again and variance after rejecting according to the data outside interval (α-3 σ, α+3 σ);
(22). assuming that linear sensor measurement model is s=H θ, H is the input quantity of sensor, H be a full rank N ×
The observing matrix (N > P) of P, H is made up of observation sample, if s=[s [0], s [1] ..., s [N-1]]TIt it is the model of sensor
Output, s is the matrix of N × 1, x=[x [0], x [1] ..., x [N-1]]TBeing the measurement amount of sensor output, θ is biography to be asked
The parameter model of sensor, θ is the matrix of P × 1;
(23). obtain measurement amount x of sensor output by linear weighted function mode and passed by linear sensor measurement model
Difference J (θ) of the s that sensor linear measurement model solution goes out, if W is the diagonal matrix of N × N, W=C-1, C represents zero mean noise
Covariance matrix;
(24). solve J (θ) function gradient to θ variable;
(25). make the gradient of J (θ) function be equal to 0, can be in the hope of the estimated value of linear sensor measurement model
(26) if. during Ce Lianging, noise is incoherent, then C estimator is diagonal matrix, makes C [n]=diag
(σ0, σ1..., σn),Wherein H [n] is the matrix of n × p, hT[n] is the matrix of 1 × p, X [n]=[x
[0], x [1] ..., x [n]]T, then have estimatorC [n] is to make an uproar
The covariance matrix of sound, least squares estimatorCovariance matrix be
(27). calculate estimatorRenewal with the covariance ∑ [n] of least squares estimator;
The renewal of estimator is calculated as follows:
Wherein
The renewal of the covariance of least squares estimator is as follows:
∑ [n]=(I-K [n] hT[n])∑[n-1]。
Fig. 5 is the flow chart of data fusion at central level, specifically includes following steps:
(31). set up state equation and the measurement equation of the system that is observed, for the nonlinear state being observed system
Equation and measurement equation, the method migration that can use local linearization is that linear system solves.
If system state equation is xk=Axk-1+Buk-1+wk-1, measurement equation is yk=Cxk-1+vk, wherein xkBe by
(x1, k, x2, k..., xN, k) composition N × 1 state variable, ukIt is (u1, k, u2, k... uL, k) input vector of L × 1 that forms,
ykBy (y1, k, y2, k... yM, k) observation vector of M × 1 that forms, wkIt is by (w1, k, w2, k... wN, k) composition N × 1 process
Noise vector, vkIt is by (v1, k, v2, k... vM, k) the measurement noise vector of M × 1 that forms, A is the state transfer square of N × N
Battle array, B is the input relational matrix of N × L, and C is that M × N measures relational matrix;
(32). on the basis of-1 state variable optimal estimation value of kth, utilize the state equation of system to predict kth
The prior state value in moment.
Pk -=APk-1AT+ Q, whereinRepresent the priori estimates of kth moment state variable,Represent the optimal estimation value of kth-1 moment state variable,Represent kth moment priori to estimate
The covariance matrix of meter error,Represent the covariance matrix of kth moment Posterior estimator error,
Q=E [wkwk T] represent the covariance that process noise is vectorial.
(33). utilize actual measured value correction previous step to predict the state priori estimates obtainedObtain system mode
Optimal estimation value
Kk=Pk -CT(CPk -CT+R)-1,Pk=(I-KkC)Pk -, wherein R=E [vkvk T] represent
Measure the covariance of noise vector.
(34). in order to avoid matrix inversion operation, use scalar facture successively to process, it is assumed that each measures noise
Between relevant, carry out Orthogonal Decomposition, R=MDM to measuring noise covariance RT, wherein M is orthogonal matrix, D=diag (σ1,
σ2..., σM) it is diagonal matrix, measurement equation is carried out matrixing MTyk=MTCxk-1+MTvk, define new observation vector yk'=
MTyk, calculation matrix C '=MTC, measures noise vector vk'=MTvk, the new covariance measuring noise vector is R=E [vk′vk
′T]=E [MTvkvk TM]=MTRM=D, remembers calculation matrixyk'=(y1, k', y2, k' ..., yM, k'),P0, k=Pk -, then can carry out state with following scalar algorithm and be corrected with mean squared error matrix:PM, k=(I-kM, kcm′)PM-1, k, wherein m
=1,2 ..., M,Pk=PM, k。
(35). use data fusion result at central level to go to revise the result of sensor-level data fusion.
Those of ordinary skill in the art it will be appreciated that embodiment described here be to aid in reader understanding this
Bright implementation, it should be understood that protection scope of the present invention is not limited to such special statement and embodiment.Ability
The those of ordinary skill in territory can make various its without departing from essence of the present invention according to these technology disclosed by the invention enlightenment
Its various concrete deformation and combination, these deformation and combination are the most within the scope of the present invention.
Claims (3)
1. the distributed collaborative algorithm being applied to sensor network and data syncretizing mechanism, it is characterised in that include sensing
Device DBMS merges and data fusion at central level, and wherein sensor-level data fusion is distributed in different measurand not by fusion
Generic sensor obtains being observed the measurement noise variance of the Partial State Information of system and sensor, melts for data at central level
Closing and provide initial condition, the result of sensor-level data fusion is filtered by data fusion at central level by Fuzzy Kalman Filter
Ripple processes the status information of the system under test (SUT) obtaining optimum, uses the modified result sensor-level data of data fusion at central level to melt
The result closed.
2. according to a kind of distributed collaborative algorithm being applied to sensor network described in claim 1 and data syncretizing mechanism,
It is characterized in that, described sensor-level data fusion comprises the following steps:
(21). obtained by sensor and sufficiently measure initial data, and reject the abnormal data in measurement, for nonlinear
Sensor measurement model, can make model carry out linearisation near certain nominal value, carry out by linear measurement model
Solve;
(22). assuming that linear sensor measurement model is s=H θ, H is the input quantity of sensor, and H is the N × P of a full rank
Observing matrix (N > P), H is made up of observation sample, if s=[s [0], s [1] ..., s [N-1]]TThe model being sensor is defeated
Going out, s is the matrix of N × 1, x=[x [0], x [1] ..., x [N-1]]TBeing the measurement amount of sensor output, θ is sensing to be asked
The parameter model of device, θ is the matrix of P × 1;
(23). obtain measurement amount x of sensor output and by linear sensor measurement model sensor by linear weighted function mode
Difference J (θ) of the s that linear measurement model solution goes out, if W is the diagonal matrix of N × N, W=C-1, C represents the association side of zero mean noise
Difference matrix;
(24). solve J (θ) function gradient to θ variable;
(25). make the gradient of J (θ) function be equal to 0, can be in the hope of the estimated value of linear sensor measurement model
(26) if. during Ce Lianging, noise is incoherent, then C estimator is diagonal matrix, makes C [n]=diag (σ0,
σ1..., σn),Wherein H [n] is the matrix of n × p, hT[n] is the matrix of 1 × p, X [n]=[x [0],
X [1] ..., x [n]]T, then have estimatorC [n] is the association of noise
Variance matrix, least squares estimatorCovariance matrix be
(27). calculate estimatorRenewal with the covariance ∑ [n] of least squares estimator;
The renewal of estimator is calculated as follows:
Wherein
The renewal of the covariance of least squares estimator is as follows:
∑ [n]=(I-K [n] hT[n])∑[n-1]。
(28). the state estimation that heterogeneity or same nature sensor are obtained is carried out Dempster-Shafer data and melts
It is combined into data fusion at central level and initial condition is provided.
3. according to a kind of distributed collaborative algorithm being applied to sensor network described in claim 1 and data syncretizing mechanism,
It is characterized in that, described data fusion at central level comprises the following steps:
(31). set up state equation and the measurement equation of the system that is observed.
If system state equation is xk=Axk-1+Buk-1+wk-1, measurement equation is yk=Cxk-1+vk, wherein xkIt is by (x1, k,
x2, k... xN, k) composition N × 1 state variable, ukIt is (u1, k, u2, k... uL, k) input vector of L × 1 that forms, ykBy
(y1, k, y2, k... yM, k) observation vector of M × 1 that forms, wkIt is by (w1, k, w2, k... wN, k) composition N × 1 process noise
Vector, vkIt is by (v1, k, v2, k... vM, k) the measurement noise vector of M × 1 that forms, A is the state-transition matrix of N × N, and B is
The input relational matrix of N × L, C is that M × N measures relational matrix;
(32). on the basis of-1 state variable optimal estimation value of kth, utilize the state equation of system to predict the kth moment
Prior state value.
Pk -=APk-1AT+ Q, whereinRepresent the priori estimates of kth moment state variable,Represent
The optimal estimation value of kth-1 moment state variable,Represent kth moment prior estimate error
Covariance matrix,Represent the covariance matrix of kth moment Posterior estimator error, Q=E
[wkwk T] represent the covariance that process noise is vectorial.
(33). utilize actual measured value correction previous step to predict the state priori estimates obtainedObtain the optimum of system mode
Estimated value
Kk=Pk -CT(CPk -CT+R)-1,Pk=(I-KkC)Pk -, wherein R=E [vkvk T] represent and measure
The covariance of noise vector.
(34). in order to avoid matrix inversion operation, use scalar facture successively to process, it is assumed that each is measured between noise
Relevant, carry out Orthogonal Decomposition, R=MDM to measuring noise covariance RT, wherein M is orthogonal matrix, D=diag (σ1, σ2...,
σM) it is diagonal matrix, measurement equation is carried out matrixing MTyk=MTCxk-1+MTvk, define new observation vector yk'=MTyk, survey
Moment matrix C '=MTC, measures noise vector vk'=MTvk, the new covariance measuring noise vector is R=E [vk′vk′T]=E
[MTvkvk TM]=MTRM=D, remembers calculation matrixyk'=(y1, k', y2, k' ..., yM, k'),
P0, k=Pk -, then can carry out state with following scalar algorithm and be corrected with mean squared error matrix:PM, k=(I-kM, kcm′)PM-1, k, wherein m
=1,2 ..., M,Pk=PM, k。
(35). use data fusion result at central level to go to revise the result of sensor-level data fusion.
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CN111667073A (en) * | 2020-03-30 | 2020-09-15 | 西北工业大学 | Fuzzy Kalman filtering target tracking method improved by evidence theory |
CN111860613A (en) * | 2020-06-30 | 2020-10-30 | 江苏科技大学 | Multi-target tracking and state prediction method based on multi-source heterogeneous signals |
CN111860613B (en) * | 2020-06-30 | 2023-10-27 | 江苏科技大学 | Multi-target tracking and state predicting method based on multi-source heterogeneous signals |
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CN114131604A (en) * | 2020-08-26 | 2022-03-04 | 北京市商汤科技开发有限公司 | Method and device for determining state of robot, robot and storage medium |
CN114260890A (en) * | 2020-08-26 | 2022-04-01 | 北京市商汤科技开发有限公司 | Method and device for determining state of robot, robot and storage medium |
CN114131604B (en) * | 2020-08-26 | 2023-11-03 | 北京市商汤科技开发有限公司 | Method and device for determining state of robot, robot and storage medium |
CN114260890B (en) * | 2020-08-26 | 2023-11-03 | 北京市商汤科技开发有限公司 | Method and device for determining state of robot, robot and storage medium |
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