Sensor fusion apparatus and method

• US 5,850,625 A
• Filed: 03/13/1997
• Issued: 12/15/1998
• Est. Priority Date: 03/13/1997
• Status: Expired due to Fees

• Current Assignee: Accurate Automation Corp.
• Original Assignee: Accurate Automation Corp.
• Inventors: Robinson, Timothy W., Maren, Alianna J., Priddy, Kevin L., Mathia, Karl, Donovan, David J., Glover, Charles W., Colbert, Bradley D., Akita, Richard M., Pap, Robert M., Saeks, Richard E.
• Primary Examiner(s): Barlow, John
• Assistant Examiner(s): VO, HIEN XUAN
• Application Number:
  US08/819,980
• Time in Patent Office: 642 Days
• Field of Search: 364/570, 364/554, 364/581, 364/582, 382/254, 382/274, 382/263, 382/162, 382/173, 395/61, 395/24, 702/93, 706/25
• US Class Current: 702/93
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder

Abstract

The invented apparatus fuses two or more sensor signals to generate a fused signal with an improved confidence of target existence and position. The invented apparatus includes gain, control and fusion units, and can also include an integration unit. The integration unit receives signals generated by two or more sensors, and generates integrated signals based on the sensor signals. The integration unit performs temporal and weighted spatial integration of the sensor signals, to generate respective sets of integrated signals supplied to the gain control and fusion units. The gain control unit uses a preprogrammed function to map the integrated signals to an output signal that is scaled to generate a gain signal supplied to the fusion unit. The fusion unit uses a preprogrammed function to map its received integrated signals and the gain signal, to a fused signal that is the output of the invented apparatus. The weighted spatial integration increases the fused signal'"'"'s sensitivity to near detections and suppresses response to detections relatively distant in space and time, from a detection of interest. The gain control and fusion functions likewise suppress the fused signal'"'"'s response to low-level signals, but enhances response to high-level signals. In addition, the gain signal is generated from signals integrated over broad limits so that, if a detection occurred near in space or time to a detection of interest, the gain signal will cause the fused signal to be more sensitive to the level of the detection of interest.

Claims

1. A method comprising the steps of:

a) integrating a first sensor signal;

b) integrating a second sensor signal;

c) generating a gain signal, based on the integrated first and second sensor signals generated in said steps (a) and (b), respectively; and

d) generating a fused signal, based on the first and second sensor signals, and the gain signal generated in said step (c).

2. A method as claimed in claim 1, further comprising the step of:

e) integrating the first sensor signal for use in generating the fused signal in the performance of said step (d); and

f) integrating the second sensor signal for use in generating the fused signal in the performance of said step (d).

3. A method as claimed in claim 2, wherein the spatial limits of integration of said steps (a) and (b) are greater than the spatial limits of integration of said steps (e) and (f).

4. A method as claimed in claim 2, wherein the temporal limits of integration of said steps (a) and (b) are greater than the temporal limits of integration of said steps (e) and (f).

5. A method as claimed in claim 2, further comprising the step of:

g) weighting at least one of said first and second signals during the performance of at least one of said steps (a), (b), (e) and (f).

6. A method as claimed in claim 5, wherein said step (g) is performed with difference-of-gaussian weighting.

7. A method as claimed in claim 2, wherein the first and second signals are indicative of whether a target exists, the fused signal more indicative of whether the target exists than either of the first and second signals considered individually.

8. A method as claimed in claim 2, wherein the first and second signals are indicative of a target position at a predetermined time, the fused signal having a greater confidence of the target position at the predetermined time than either of the first and second signals considered individually.

9. A method as claimed in claim 2, wherein the first and second signals have respective confidences of whether two closely spaced detections are one target or more than one target relatively closely spaced, and the fused signal has an improved confidence relative to the confidences of the first and second signals.

10. A method as claimed in claim 2, wherein at least one of the steps (a), (b), (e) and (f) includes a substep of using a predetermined transfer function to generate at least one of the integrated first and second sensor signals used in the performance of said steps (c) and (d).

11. A method as claimed in claim 10, wherein the transfer function includes a range normalization function.

12. A method as claimed in claim 10, wherein the transfer function includes a scaled sigmoid function.

13. A method as claimed in claim 2, wherein said step (c) includes a substep of:

c1) inputting the integrated first and second sensor signals into a predetermined gain control function to generate the gain signal.

14. A method as claimed in claim 13, wherein said step (c) includes a substep of:

c2) multiplying the signal output from the gain control function by a predetermined gain factor, to generate the gain signal.

15. A method as claimed in claim 13, wherein said step (c) further comprises the substep of:

c2) selecting the predetermined gain control function used in the substep (a1) from among a plurality of gain control functions.

16. A method as claimed in claim 2, wherein said step (d) includes the substeps of:

d1) inputting the integrated signals generated by said steps (e) and (f) into a predetermined fusion function to generate the fused signal.

17. A method as claimed in claim 16, wherein said step (d) further comprises the substep of:

d2) selecting the predetermined fusion function used in the substep (d1) from among a plurality of fusion functions.

18. A method as claimed in claim 1, wherein said steps (c) and (d) are performed in one-dimension.

19. A method as claimed in claim 1, wherein said steps (c) and (d) are performed in two-dimensions.

20. A method as claimed in claim 1, wherein said steps (c) and (d) are performed in three-dimensions.

21. An apparatus for use with first and second sensor signals from first and second sensors, respectively, that sense a target in an environment, the apparatus comprising:

an integration unit coupled to receive the first and second sensor signals, generating first integrated signals based on the first and second sensor signals, and generating second integrated signals based on the first and second sensor signals;

a gain control unit coupled to receive the first integrated signals, and generating a gain signal based on the the first integrated signals; and

a fusion unit coupled to receive the gain signal from the gain control unit, and coupled to receive the second integrated signals from the integration unit, the fusion unit generating a fused signal, based on the gain signal and the second integrated signals.

22. An apparatus as claimed in claim 21, wherein the integration unit performs weighting of the first and second sensor signals to generate at least one of the first and second integrated signals.

23. An apparatus as claimed in claim 22, wherein the weighting is difference-of-gaussian weighting.

24. An apparatus as claimed in claim 21, wherein the integration unit integrates the first and second sensor signals over predetermined spatial limits of integration to produce at least one of the first and second integrated signals.

25. An apparatus as claimed in claim 21, wherein the integration unit integrates the first and second sensor signals over predetermined temporal limits of integration to produce at least one of the first and second integrated signals.

26. An apparatus as claimed in claim 21, wherein the integration unit generates at least one of the first and second integrated signals using a predetermined transfer function.

27. An apparatus as claimed in claim 26, wherein the transfer function is a range normalization function.

28. An apparatus as claimed in claim 26, wherein the transfer function is a scaled sigmoid function.

29. An apparatus as claimed in claim 21, further comprising:

a first sensor coupled to the integration unit, and sensing the environment to generate the first sensor signal; and

a second sensor coupled to the integration unit, and sensing the environment to generate the second sensor signal.

30. An apparatus as claimed in claim 21, wherein the gain control unit inputs the first integrated signals into a predetermined fusion function to generate the gain signal.

31. An apparatus as claimed in claim 21, wherein the fusion unit inputs the second integrated signals into a predetermined fusion function to generate the fused signal.