基于通信故障的多传感器系统融合估计算法研究

在实际多传感器动态系统中，气候、机械故障以及人为等因素都可能使系统中某些传感器以及线路出现故障，从而导致正常的融合算法(本文是指通信正常情况下的无反馈层次结构融合算法)无法正常运行．本文对某些传感器出现通信故障的多传感器动态系统进行了研究，通过改进现有的系统框架，提出了一种新的融合估计算法．该算法能够自动地对发生故障的传感器进行实时跟踪和检测，并做出相应的处理，从而保证系统能够继续正常工作．新算法具有很高的灵活性和实时故障处理能力，最后计算机仿真证明了该算法的有效性．

Research of Fusion Estimation Algorithm Based on Communication Fault Multisensor System

In actual multisensor application systems,there're a lot of factors possibly making some sensors or corresponding circuitries produce faults,such as weather,mechanical fault or man-made matter and so on,which sequentially lead to the normal center fusion algorithm can not be executed sequentially.This paper is a research on a multisensor fusion system resulting in communication fault and presenting a new fusion algorithm named improved center fusion algorithm through improving the existing system frame.The improved algorithm can track and examine the fault sensors automatically and take corresponding actions,thus the fusion system can work normally.The new algorithm provides more higher adaptability and real-time ability in disposing faults and finally the simulation results show the validities of the new algorithm.