A minimum MSE sensor fusion algorithm with tolerance to multiple faults

Abstract

Sensor data fusion is a common approach to provide accurate and fault-tolerant sensor readouts in a multisensor system. This paper proposes an efficient data fusion algorithm using convex optimization for a multi-sensor system with given post-calibration statistical characteristics. A preprocessing step called screening is proposed to quickly detect multiple faulty sensors and exclude them from the fusion. Experimental results are evaluated on temperature sensors.