Research On Modeling Methods Of Multi-sensor Fusion Based On Automata Theory

Multi-sensor fusion is a comprehensive processs of measurement, identification and decesion dealing with data information from multiple different sensors and other sources to achieve above tasks. At present, research on multi-sensor fusion mainly concertrates on the fusion function and methods, however, to a large extent it neglects the whole course and computation and there is not any effective method for mult-sensor fusion compuating models, results of which makes the less theorical foundation baffling the development of deep research on it. Besides, it is impossible to describe and evaluate the fusion course and elimate the blindness of fusion design. As for the diversity of informantion disposed and the complexsity of disposing course, there is no effective mathematica tool for us to describe and analyze the multi-sensor fusion course in union. Therefore, it becomes an urgent problem to find out deep and underlying mathematical tool to describe and analyze the problem. From the computation of multi-sensor fusion, this dissertation adopts the automata theory and methods to describe the couse of computation and disposition of multi-sensor fusion by considering the mathematical charactertics of it, and builds the computation model of multi-sensor fusion with its analysis and validation. Aiming above analysis, this dissertation has done relative work as follows.(1) This dissertation developed the automata theory and put forward the temporal I/O automata as the mathematioca tool for describing, analyzing and modeling multi-sensor fusion. Compared with tradional automata, temporal I/O automata is more exact for describe the course of multi-sensor fusion. At last, this dissertation put forward the methods of modeling, analysis and simulation.(2) This dissertation built the temporal I/O automata model of multi-sensor fusion and adopted the character set of temporal I/O automata to describe the time data of fusion course, which was used to abstract the key treatment state and information events of its course. On the other hand, this dissertation made use of the "and" and "join" computation of output languae and input language of temporal I/O automata model. By examining the reachable activity of temporal I/O automata model of multi-sensor fusion, this dissertation validated and analyzed the correctness of the multi-sensor fusion course.(3) This dissertation used the temporal I/O automata to gain and dispose the observational data and built the data correlation temporal I/O automata model, and put forward capability evaluating arithmetic of it, with breadth priority search method to find state transferring figure of temporal I/O automata to validate the correctness of flight path of data correlation modes, and at last the key techniques of computation realized was discussed.(4) Sensor management of the mode of control course of multi-sensor fusion. This dissertation analyzed the sensor control strategies when some senor breaks down, and used the language measurement produced by automata to complete the evaluation of different strategies. The method of quantitative evaluation and comparison of different control strategies for sensor management by a real language measure based on the principles of automata theory is proposed. The experiment validates identification of the language measure parameters and got the performance measure of different control strategies.(5)The measure entropy of language generated by temporal input/output automata is defined, and the entropy theory for the temporal I/O automata model of multi-sensor fusion is built. Furthermore, several important theorems about conditional fusion entropy are proposed. Their directive significance is pointed in multi-sensor fusion theoretical study and practice.(6)Since there was not a systemic theory for analyzing and validating the dynamic behavior of C~3I information system, a timed automata model of C~3I system using formal method was presented. The Computation Tree Logic presents the properties of C~3I information system, then the system' s key properties of real-time performance was verified by the real-time model checker Uppaal.A precise computation model of multi-sensor fusion based on temporal input/output automata can be demonstrated by practice that the modeling method provides novel approaches to analyze and validate the dynamic behavior of multi-sensor fusion. It is expected that it should lead to the development of tools that could be used by software engineers to formally derive designs of fusion systems.