Credibility-based multi-sensor fusion for non-Gaussian conversion error mitigation

Abstract

In a complex environment, a multi-sensor fusion algorithm can compensate for the limitations of a single sensor’s performance. In a distributed fusion algorithm, sensors need to transmit local estimates to a central coordinate system, and the existence of coordinate transformation uncertainty can undermine the performance of data transmission. Therefore, this paper proposes a multi-sensor distributed fusion method based on trustworthiness. Firstly, considering the presence of non-Gaussian conversion errors, a credibility-based multi-sensor fusion framework is constructed. Secondly, to address the difficulty in estimating conversion errors when measurement errors follow a non-Gaussian distribution, an optimization model is constructed based on actual measurement information to estimate the distribution of non-Gaussian conversion errors. Then, in response to the non-linear and non-Gaussian characteristics of the target optimization function, a particle swarm optimization algorithm based on trustworthiness adaptive weights is proposed to estimate the coordinate transformation errors. Finally, given the inconsistency in local estimates due to missing sensor measurements or significant errors in a non-Gaussian complex environment, a maximum correntropy consensus algorithm is proposed to avoid the trustworthiness calculation being affected by the current measurement errors, thereby improving the accuracy of the global estimation.