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·706· .2002.10(11) ComputerMeasurement&Control :2002-07-04。:(1967-),,,,,、。(1961-),,,,、、。:1671-4598(2002)11-0706-04 :TP274 :A高 翔1,2,王 勇1,2(1., 210003;2., 210096):、,、、、,,。:;;SurveyofMultisensorInformationFusionGAOXiang1,2,WANGYong1,2(1.DepartmentofElectronicEngineering,NanjingUniversityofPostsandCommunications,Nanjing 210003,China;2.DepartmentofInstrumentScienceandEngineering,SoutheastUniversity,Nanjing 210096,China)Abstract:Thehistory,developmentandtheapplicationsofmultisensorinformationfusionaresummarized.Thebasictheo-ry,correlativetechnology,subsistentproblemsandthedirectionofstudiesarediscussed.Atlast,theapplicationfields,especial-lytheintelligentrobotareintroduced.Keywords:multisensor;informationfusion;signalprocessing1 1973,,。70,。80,。1984(DFS)。,,、、、、,,,,,,,。,、、,,———(MSDF———multi-sensordatafusion)。20,[1-5]。、——————、、、。、、、、[6-7]。:,、。:、。2 。(、、、)(、、、),。,,,。。,。,11:·707· ;。:,,:()、()。3 :,。,、。3,3:、。4 ,,、、、、、、、、。,、、[8-16]。4.1 ,,,。、、、。4.2 1795Guass,。1912Fisher,。2040,KolmogrovWinner,。2070,———。、、。,,kalmankalman。:,,:;,,。,。4.3 、、,(dempster-shafer)、、。,,:,,。D-S,。Waltz[17-18]BoglerD-S、。Dempster:。,[19]。Dempster,[20]。D-S,,。[21-23]。,,、。———。,,,,,。AldenerferBlashfield。,,。,,:、、、。(MSF)(、、、)。、。AT(ES/KBS)MSF,,,、、、、、、。5 5.1 ,:(1):, ·708· 10(,)。,,“”,,。(2):,。。(3):,,,。,。,:、、、、“”,、、、、。5.2 (1),,:、;,:AI、、、。。Muhlexbein,。(2)。、、,。,,。(3),。,(1012bytes),。,:、、、。POSS-Ⅱ[36]。1996,ShekCONQUEST()[37]。(4),。(5):ReinerYannor、,[24-30]。6 ,。,,、、、、、,:TCAC———,BETA———,AIDD———。:(1):。(2):,,。,,,,,。Hailar,、、,。Stanford、,Kalman[38]。、,[39-41]。1992,863、863,。(3)。(4)。(5):、、、。7 ,。,,、,。:[1],.[M].:,2000.[2],,.[M].:,1998.11:·709· [3]HALLDL.Mathematicaltechniquesinmultisenserdatafu-sion[M].ArtechHouse,London,1992.[4].[M].:,1997.[5]WALTZE,LLINASJ.Multisenserdatafusion[M].NewYork:ArtechHouse,Inc.,1990.[6],.[M].:,1998.[7],.[M].:,2000.[8],,.[M].:,1996.[9],,,.[J].,2000,(6):32-37[10],,,.[J].,1999,(1):18-21.[11].[M].:,1994.[12],,.[J].,2001,19:42-45.[13]CHENWK.MathematicsforCircuitsandFilters[M].BocaRaton,Washtington,D.C.2000.[14],,.[J].,1998,3:231-235.[15],,,.[J].,2000,30(4):25-29.[16],,,.[J].,2001,19(1):26-30[17]WALTZEL,BUEDEDM.Datafusionanddecisionsup-portforcommandandcontrol.IEEETrans.onSystem,ManandCybernetics[J].1986,16(16):865-879.[18]WALTZEL.DatafusionforC3Isystem[Z].Interna-tionalC3IHandbook,EWCommunications,PaloAlto,Ca,1986.[19],,.[J].,1994,6(3):227-234.[20]HAIYENHAN,R.L.KAASHYAP.Beliefcombinationandpropagationinalattice-structuredinferencenetwork[J].IEEE.TransonSystem,ManandCybernetics,1990,SMC-20:45-67.[21]LIULJ,YANGJY.Modelbasedobjectclassificationus-ingfuseddata[J].SPIE,1991,(1611):65-73.[22],.[J].,1995,24(2):137-142.[23]YAGERRR,KACPRZYKJ,FEDRIZZIM.Adcancesinthedempster-shafertheoryofevidence[M].JohnWi-ley&.Sons,INC,1994.[24],.[A].[C].,1997,5:113-116.[25],,.[J].,2001,22(3):313-314.[26],,.[J].,2002,(12):11-15.[27]TENNEYRR,SANDELNR.Detectionwithdistributedsensors[J].IEEETrans.OnAES,1981,17(4):501-510.[28]VARSHNEYPK.Distributeddetectionanddatafusion[M].NewYork:Springer-Verlag,1996.[29]VISWANATHANR,THOMOPOULOSSCA,TUMU-LURIR.Optimalserialdistributeddecision[J].IEEETrans.onAES,1981,17(4):501-510.[30],,,.[J].,1999,27(3):9-12.[31].[J].,1998,(1):85-87.[32].[J].,1998,(2):15-18.[33],.[J].,1999,(3):2-6.[34],.[J].,1996,(1):16-22.[35],,,.[J].,1998,(5):536-540.[36]FAYYADM,piatets-shapireG.Advancesinknowledgediscoveryanddatamining[M].MenloparkCA:AAA1/MITPress.[37]SHEKEC,MUNTRARR.Etal.Scalableexploratorydataminingofdistributer,geoscientificdata[A].Inpro-ceedingsofthesrcondinternationalconferenceonknowledgediscoveryanddatamining[C],Menlopark,CA:AAA1/press,1996,32-37.[38],,.[M].:,2002.[39],.[M].:,2001.[40],.[J].,2001,(2):192-195.[41],,.[J].,1996,(8):94-97.[42]ABIDIMA,GONZALEZRC.Datafusioninroboticsandmachineintelligence[M].AcademicPress,INC.1992.[43],.[J].,2001,9(4):1-3.[44],.[J].,2001,9(6):12-15.