93/2007 : Fusion of Continuous-valued Sensor Measurements using Confidence-weighted Averaging

RR Number

93/2007

Conference

Journal of Vibration and Control

Author(s)

Wilfried Elmenreich

Abstract

This paper presents a method for fusing measurement samples from multiple sensors into a dependable robust estimation of a variable in the control environment. Each sensor measurement is represented by a measurement value and a confidence marker that corresponds to the respective variance of the measurement. We propose the Confidence-weighted Averaging (CWA) algorithm for fusing measurements with respect to the estimated variance of the measurement error. For calibrated sensors with uncorrelated error functions this algorithm is optimal for producing a result with minimum mean squared error.

Bibtex

@article{ elmenreich:2007-93,
  author =       "Wilfried Elmenreich",
  title =        "Fusion of Continuous-valued Sensor Measurements using Confidence-weighted Averaging",
  journal =      "Journal of Vibration and Control",
  year =         "2007",
  number =       "9-10",
  volume =       "13",
  pages =        "1303-1312"
}

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