Fusion of Continuous-Valued Sensor Measurements using Statistical Analysis
نویسندگان
چکیده
Sensor measurements are typically vitiated by a measurement error caused by the sensor’s imperfectness or external disturbances. Whenever this measurement error is to large to be neglected it is necessary to fuse measurements from multiple sensors into a more dependable estimation of the measurement value. This paper derives a fusion method for fusing tuples of sensor measurements and confidence markers representing the respective variance of the measurement. Assuming calibrated sensors with uncorrelated error functions, this Confidence-Weighted Averaging (CWA) is optimal for producing the minimum possible expected error of the result.
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