A resilient sensor fusion apparatus by using heterogeneous sensors and method thereof

摘要

A sensor fusion apparatus according to one aspect of the present invention includes a sensor calibration unit for calculating an error range of a sensor and determining a criterion for determining a permanent defect of the sensor, a sensor calibration unit for calculating an optimal first output value from a sensor measurement value A probabilistic model processing unit, a noise analysis unit for analyzing whether or not the noise of the sensor follows a normal distribution, an optimal second output value from the measured value of the sensor by using a quadrature algorithm, and detecting a permanent defect of the sensor A model selecting unit that selects either the first output value or the second output value as an output value of the sensor according to a non-stochastic model processing unit and a distribution form of noise, and alerts a permanent defect to the controller when a permanent defect of the sensor is detected .