Dempster-Shafer Method for Multi-Sensor Fusion

摘要

The Dempster-Shafer Theory, a generalization of the Bayesian theory, is based on the idea of belief and as such can handle ignorance. When all of the required information is available, many data fusion methods provide a solid approach. Yet, most do not have a good way of dealing with ignorance. In the absence of information, these methods must then make assumptions about the sensor data. However, the real data may not fit well within the assumed model. Consequently, the results are often unsatisfactory and inconsistent. The Dempster-Shafer Theory is not hindered by incomplete models or by the lack of prior information. Evidence is assigned based solely on what is known, and nothing is assumed. Hence, it can provide a fast and accurate means for multi- sensor fusion with ignorance. In this research, we apply the Dempster-Shafer Theory in target tracking and in gait analysis. We also discuss the Dempster- Shafer framework for fusing data from a Global Positioning System (GPS) and an Inertial Measurement Unit (IMU) sensor unit for precise local navigation. Within this application, we present solutions where GPS outages occur.