System and method of multi-sensor fusion of physiological measurements
First Claim
1. A system for estimation of heart rate subject, the system comprising:
- a plurality of sensors coupled to the subject, each providing a physiological signal capable of producing a heart rate measurement;
a filter circuit receiving said heart rate measurements and producing a fused heart rate estimate for each possible combination of said heart rate measurements from said plurality of sensors in which each of said heart rate measurements in said combinations are considered to be acceptable or unacceptable; and
a confidence calculator coupled to said filter circuit to receive said fused heart rate estimates and to determine a confidence level value for each of said fused heart rate estimates indicative of an accuracy of each of said fused heart rate estimates, said confidence calculator selecting said one of said fused heart rate estimates as the estimated heart rate based on said confidence level.
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Abstract
A system and method for fusing independent measures of the physiological parameter uses a Kalman filter for each possible combination of sensor measurements. The Kalman filter utilize probability density functions of a nominal error contamination model and a prediction error model as well as past estimates of the physiological parameter to produce the Kalman filter outputs. A confidence calculator uses Bayesian statistical analysis to determine a confidence level for each of the Kalman filter outputs, and selects a fused estimate for the physiological parameter based on the confidence level. The fused estimate and the confidence level are used to dynamically update the nominal error contamination model and prediction error model to create an adaptive measurement system. The confidence calculator also takes into account the probability of artifactual error contamination in any or all of the sensor measurements. The system assumes a worst case analysis of the artifactual error contamination, thus producing a robust model able to adapt to any probability density function of the artifactual error and a priori probability of artifact.
373 Citations
36 Claims
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1. A system for estimation of heart rate subject, the system comprising:
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a plurality of sensors coupled to the subject, each providing a physiological signal capable of producing a heart rate measurement; a filter circuit receiving said heart rate measurements and producing a fused heart rate estimate for each possible combination of said heart rate measurements from said plurality of sensors in which each of said heart rate measurements in said combinations are considered to be acceptable or unacceptable; and a confidence calculator coupled to said filter circuit to receive said fused heart rate estimates and to determine a confidence level value for each of said fused heart rate estimates indicative of an accuracy of each of said fused heart rate estimates, said confidence calculator selecting said one of said fused heart rate estimates as the estimated heart rate based on said confidence level. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for fusion of physiological sensor measurements in a subject having a plurality of sensor coupled thereto, each of the sensors producing a sensor measurement related to a physiological parameter, the system comprising:
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a statistical model affecting the fusion of the sensor measurements; a statistical filter circuit receiving the sensor measurements and said statistical model and producing a fused parameter estimate for each possible combination of the sensor measurements from the plurality of sensors in which each of the sensor measurements in said combinations are considered to be acceptable or unacceptable; and a confidence calculator coupled to said filter circuit to receive said fused parameter estimates and to determine a confidence level for each of said fused parameter estimates indicative of an accuracy of each of said fused parameter estimates, said confidence calculator selecting one of said fused parameter estimate as a final parameter estimates based on said confidence level. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A method for fusion of sensor measurements in a subject having a plurality of sensor coupled thereto, each of the sensors producing a sensor measurement related to a physiological parameter, the method comprising the steps of:
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generating a statistical model affecting the fusion of the sensor measurements; producing a fused parameter estimate based on the sensor measurements and said statistical model for each possible combination of the sensor measurements from the plurality of sensors in which each of the sensor measurements in said combinations are considered to be acceptable or unacceptable; determining a confidence level value for each of said fused parameter estimates indicative of an accuracy of each of said parameter estimates; and selecting a final parameter estimate based on said confidence level. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
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Specification