基于贝叶斯网络的多传感器目标识别算法研究

基于贝叶斯网络能够组合多种证据进行不确定性表达和推理的特点,提出以贝叶斯网络为基本结构的目标融合识别模型.通过详细分析空中目标识别的推理规则,建立了空中目标识别的贝叶斯网络拓扑结构.首先对各传感器的数据分别进行融合,然后应用贝叶斯网络推理算法对多种传感器融合结果进行融合计算,最后根据假定变量各状态的概率取值来判断目标平台类型.仿真结果证明了该方法直观、形象,计算速度快,降低了实用的复杂度,提高了目标识别的可靠性.     

分布式贝叶斯检测融合优化算法及其计算机仿真

该文研究了利用分布式多传感器获得全局决策的分布式信号检测问题。在这种检测系统中各传感器将其各自关于观测对象的决策传送至融合中心,融合中心根据融合规则给出全局决策。研究重点是基于贝叶斯准则的分布式并联检测融合系统的数据融合理论,给出了使系统全局最优的融合规则和传感器决策规则,提出了对融合规则和传感器决策规则进行优化计算的非线性高斯一赛德尔算法,具体讨论了两相同传感器、两个不同传感器和三个相同传感器在具有独立观测时的数据融合问题。给出了利用本文所提算法对上述几种情况进行计算机仿真的仿真实例。仿真结果表明：融合系统的性能相对传感器有显著改善,采用三个相同传感器的融合系统,其贝叶斯风险下降了26．5％。     

Unified fusion rules for multisensor multihypothesis network decision systems

In this paper, we present a fusion rule for distributed multihypothesis decision systems where communication patterns among sensors are given and the fusion center may also observe data. It is a specific form of the most general fusion rule, independent of statistical characteristics of observations and decision criteria, and thus, is called a unified fusion rule of the decision system. To achieve globally optimum performance, only sensor rules need to be optimized under the proposed fusion rule for the given conditional distributions of observations and decision criterion. Following this idea, we present a systematic and efficient scheme for generating optimum sensor rules and hence, optimum fusion rules, which reduce computation tremendously as compared with the commonly used exhaustive search. Numerical examples are given, which support the above results and provide a guideline on how to assign sensors to nodes in a signal detection networks with a given communication pattern. In addition, performance of parallel and tandem networks is compared.     

A robust D–S fusion algorithm for multi-target multi-sensor with higher reliability

This paper addresses the problem of track fusion for unordered distributed sensors with unknown measurement noise. A robust Dempster–Shafer (D–S) fusion algorithm is proposed, which includes three parts, namely, the local track estimation, the track association, and the state fusion. First, a labeling VB-PHD filter is derived to present target states with track labels and the unknown measurement noises of local sensors. Next, a heuristic D–S method is proposed to determine the relationship of local tracks and fused tracks, where the accumulated information is taken into account. Finally, a fusion method is given to show the state fusion results, which can fully utilize local state estimates and measurement noise information. Simulation results are provided to illustrate the high precision of tracking and good robustness, comparing with the traditional methods.     

基于效用理论的多传感器智能融合

信息融合系统应综合考虑获取信息所要求的资源、计算复杂度和时间所需要的最小成本,提出了基于效用理论的传感器智能融合技术,利用期望效用最大化的观点来选择传感器,并与证据理论相组合,应用于目标识别,仿真结果表明该方法的有效性。     

Convex optimization approach to identify fusion for multisensortarget tracking

We consider the problem of identity fusion for a multisensor target tracking system whereby the sensors generate reports on the target identities. Since sensor reports are typically fuzzy, incomplete, or inconsistent, the fusion of such sensor reports becomes a major challenge. In this paper, we introduce a new identity fusion method based on the minimization of inconsistencies among the sensor reports by using a convex quadratic programming formulation. In contrast to Dempster-Shafer's evidential reasoning approach which suffers from exponentially growing complexity, our approach is highly efficient (polynomial time solvable). Moreover, our approach can fuse sensor reports of the form more general than that allowed by the evidential reasoning theory. Simulation results show that our method generates reasonable fusion results which are similar to that obtained via the evidential reasoning theory     

一种多分辨率图象数据融合方法及实现

如何对同一目标的多传感器获得的不同分辨率的图象数据进行有效融合,提高对检测目标检测的分辩率,抑制每年传感器的检测噪声,降低检测信息不生,这是数据融合研究的重要课题之一。介绍了一种基于最小均方差的融合方法,并应用于两幅不同分辨率的ＳＡＲ图象的融合,取得了良好效果。     

基于分片融合的代码隐式混淆技术

目前,在代码保护技术研究领域,传统的混淆方法具有明显的混淆特征,分析人员可根据特征对其进行定制化的去混淆处理.为此,提出了一种基于分片融合的代码保护技术,通过在源代码层面将目标代码按照语法规则进行代码分片,依据执行顺序与语法规则,将分片插入另一程序的不同位置,在修复函数调用过程与数据关系后,形成可正常运行两个代码功能的融合后代码.在实验部分,对混淆后的代码,从运行效率、代码复杂度影响、代码相似性这3个维度,与其他混淆技术进行对比.从测试结果可以看出:基于分片融合的代码隐式混淆技术能够有效地模糊代码语义,改变控制流特征,且没有明显的混淆特征.因此,融合技术在对抗多种相似性对比算法的能力上有明显优势.     

基于模糊偏序关系评估决策的智能信息融合

针对信息融合系统应综合考虑获取信息所要求的资源、计算复杂度和时间所需要的最小成本的问题,提出了基于模糊偏序关系评估决策的智能信息融合系统,利用模糊偏序关系的排序方法,来对传感器进行评估决策和智能选择,并与证据理论相组合,应用于目标识别,仿真结果表明了该方法的有效性。     

A new multiple decisions fusion rule for targets detection in multiple sensors distributed detection systems with data fusion

Currently, multiple sensors distributed detection systems with data fusion are used extensively in both civilian and military applications. The optimality of most detection fusion rules implemented in these systems relies on the knowledge of probability distributions for all distributed sensors. The overall detection performance of the central processor is often worse than expected due to instabilities of the sensors probability density functions. This paper proposes a new multiple decisions fusion rule for targets detection in distributed multiple sensor systems with data fusion. Unlike the published studies, in which the overall decision is based on single binary decision from each individual sensor and requires the knowledge of the sensors probability distributions, the proposed fusion method derives the overall decision based on multiple decisions from each individual sensor assuming that the probability distributions are not known. Therefore, the proposed fusion rule is insensitive to instabilities of the sensors probability distributions. The proposed multiple decisions fusion rule is derived and its overall performance is evaluated. Comparisons with the performance of single sensor, optimum hard detection, optimum centralized detection, and a multiple thresholds decision fusion, are also provided. The results show that the proposed multiple decisions fusion rule has higher performance than the optimum hard detection and the multiple thresholds detection systems. Thus it reduces the loss in performance between the optimum centralized detection and the optimum hard detection systems. Extension of the proposed method to the case of target detection when some probability density functions are known and applications to binary communication systems are also addressed.     

交互式多模型异步航迹融合算法

对分布式融合系统中的异步航迹融合算法进行了研究.已有的异步航迹融合算法要求传感器所采用的状态方程与目标运动模式相同,这在实际应用中很难满足.针对已有异步航迹融合算法的不足,建立了基于状态方程集合的异步航迹融合模型.所有传感器均采用基于同一状态方程集合的交互式多模型(IMM)算法来实现航迹生成,融合中心对来自于相同状态方程的异步航迹数据进行加权平均来获得同步航迹,提出了交互式多模型异步航迹融合(IMMASTF)算法.仿真结果验证了IMMASTF算法的有效性.     

Sensor Fusion System Using Recurrent Fuzzy Inference

In robotic and manufacturing systems, it is difficult to measure the state of systems accurately because of many uncertain factors and noise, and it is very important to estimate the state of systems. We must measure the phenomena of systems by multiple sensors and estimate the state of systems by acquiring information of sensors. However, we can not acquire all of sensor information synchronically, because each sensor has particular sensor information and measuring time. For estimating the state of systems by multiple sensors, a multi-sensor fusion system fusing various sensory information is needed. In this paper, we propose a Recurrent Fuzzy Inference (RFI) with recurrent inputs and apply it to a multi-sensor fusion system for estimating the state of systems. The membership functions of RFI are expressed by Radial Basis Function (RBF) with insensitive ranges. The shape of the membership functions can be adjusted by a learning algorithm. The learning algorithm is based on the steepest descent method and incremental learning which can add new fuzzy rules. The effectiveness of the multi-sensor fusion system using RFI will be shown through a numerical experiment of moving robot and estimation of surface roughness in grinding process.     

基于贝叶斯Noisy Or Gate网络的多传感器目标分类识别

针对多传感器获取空中目标的多识别特征,提出了基于贝叶斯Noisy Or Gate网络的目标识别模型;该模型考虑未知因素的影响,将识别特征按二值节点进行网络识别结构构造,利用单个特征的识别结果,计算得到多个特征识别的任意组合,条件概率个数可以从2n减小为2n.仿真计算结果表明,该方法具有简化知识获取,节省存储空间,证据传播及时,实时性高的特点,为目标分类与识别提供了一个新的途径。     

多传感器噪声方差未知情况下的异步航迹融合

针对分布式多传感器数据融合系统,提出了一种多传感器异步航迹融合算法。现有的多传感器信息融合算法大都基于Kalman滤波器,要求噪声方差已知,并且假定各传感器同步采样,不考虑通信延迟。本文在分布式处理的模式下,基于各传感器在扩展记忆因子递推最小平方(EFRLS)估计形成本地航迹的基础上,提出了一种融合误差均方差矩阵的迹最小意义下的异步目标航迹融合算法。仿真实验结果表明,这种融合算法是有效的,算法接近集中式融合算法的精度。     

Distributed decision fusion under nonideal communication channels with adaptive topology

Multi-sensor decision fusion has attracted some attention in information fusion field, meanwhile, the distributed target detection has been a well-studied topic in the multi-sensor detection theory. This paper investigates the increase in detection reliability that an adaptive network (with adaptive topologies and nonideal channels and decision fusion rules) can provide, compared with a fixed topology network. We consider a network, consisting of K-local uncertainty sensors and a Fusion Center (FC) tasked with detecting the presence or absence of a target in the Region of Interest (ROI). Sensors transmit binary modulated local decisions over nonideal channels modeled as Gaussian noise or fading channels. Assuming that the signal intensity emitted by a target follows the isotropic attenuation power model, we consider three classes of network topology architectures: (1) serial topology; (2) tree topology, and (3) parallel topology. Under the Neyman–Pearson (NP) criterion, we derive the optimal threshold fusion rule with adaptive topology to minimize the error probability. Extensive simulations are conducted to validate the correctness and effectiveness of the proposed algorithms.     

New results on the performance of distributed Bayesian detectionsystems

The purpose of decision fusion in a distributed detection system is to achieve a performance that is better than that of local detectors (or sensors). We consider a distributed Bayesian detection system consisting of n sensors and a fusion center, in which the decision rules of the sensors have been given and the decisions of different sensors are conditionally independent. We assume that the decision rules of the sensors can be optimum or suboptimum, and that the probabilities of detection and false alarm of the sensors can be different. Theoretical analysis on the performance of this fusion system is carried out. Conditions for the fusion system to achieve a global risk that is smaller than local risks are obtained     

Active and dynamic information fusion for multisensor systems with dynamic Bayesian networks.

Many information fusion applications are often characterized by a high degree of complexity because: (1) data are often acquired from sensors of different modalities and with different degrees of uncertainty; (2) decisions must be made efficiently; and (3) the world situation evolves over time. To address these issues, we propose an information fusion framework based on dynamic Bayesian networks to provide active, dynamic, purposive and sufficing information fusion in order to arrive at a reliable conclusion with reasonable time and limited resources. The proposed framework is suited to applications where the decision must be made efficiently from dynamically available information of diverse and disparate sources.     

On the performance of distributed Neyman-Pearson detection systems

The performance of a distributed Neyman-Pearson detection system is considered. We assume that the decision rules of the sensors are given and that decisions from different sensors are mutually independent conditioned on both hypotheses. The purpose of decision fusion is to improve the performance of the overall system, and we are interested to know under what conditions can a better performance be achieved at fusion center, and under what conditions cannot. We assume that the probabilities of detection and false alarm of the sensors can be different. By comparing the probability of detection at fusion center with that of each of the sensors, with the probability of false alarm at fusion center constrained equal to that of the sensor, we give conditions for a better performance to be achieved at fusion center     

多智能传感器的有限分散自治体系研究

智能系统多传感器信息融合的复杂性迫切需要开发一套合适的结构体系，目前大多数结构体系都通过融合中心对分散在不同点的多个传感器进行信息处理，而底层传感器之间缺乏必要的联系．这样导致融合中心计算和通信的负担过重而造成瓶颈，且不能使传感器之间互相启发以提高任务环境认知的效率．针对这些问题本文首先提出智能传感器的新概念，指出智能传感器须具备的５个基本能力即预测、规划、刷新、通信和同化，并在此基础上讨论了多智能传感器组成系统时的算法及信息流程．最后以主动视觉和主动触觉共同感知运动物体的位姿为例剖析了这种新思想的具体运用     

基于属性层次模型的柴油机故障证据融合方法

针对证据理论在覆盖率高的柴油机故障诊断中容易出现证据融合误差的问题,提出一种基于属性层次模型的证据融合方法.首先,通过余弦相似度改进目标层权重算法,得到反映目标层不同证据源差异的本质差异因子;然后,采用贝叶斯网络规则改进属性层权重算法,计算相关联的属性层证据源熵值权重;最后,通过故障层次关联特性和CWAA算子修正证据理论融合规则,将不同层次属性权重有效融合,减少系统复杂性引起的诊断误差.在R6105AZLD柴油机台架上的实验结果表明,引入所提方法后的诊断准确度和鲁棒性大幅提高.