METHOD, FUSION FILTER, AND SYSTEM FOR FUSING SENSOR SIGNALS WITH DIFFERENT TEMPORAL SIGNAL OUTPUT DELAYS INTO A FUSION DATA SET

摘要

A method, a system, and a use of the system, for fusing sensor signals with different temporal signal output delays into a fusion data set. Each of at least three different sensor signals describe a measured value of at least three different sensor systems. The signal output delays are unique to the sensor. Each sensor signal includes a timestamp describing a detection time of the measured value. Erroneous measured values of a first sensor system are determined by a comparison with the measured values of other sensor systems. The erroneous values are considered constant at least for the duration between two consecutive comparisons. The erroneous values and/or the measured values are available for a specified time. The erroneous values and/or the measured values of the first sensor system constant are corrected by a correction process, and corrections carried out during the time period are considered when applying additional corrections.

主权项

1. A method for fusing sensor signals with different temporal signal output delays into a fusion data set, wherein at least three different sensor signals in each case describe a measured value of at least three different sensor systems, wherein the signal output delays are individual to each sensor, wherein the sensor signals in each case comprise a timestamp describing an acquisition time of the measured values, wherein error values of measured values of a first sensor system are defined by a comparison with measured values of further sensor systems, wherein measured values with an identical timestamp are used for the comparison, wherein the error values are assumed as constant at least for the time period between two consecutive comparisons, and wherein the error values and/or the measured values of the first sensor system are retained for a specified time period, wherein the error values and/or the measured values of the first sensor system are continuously corrected by a correction, wherein corrections carried out during the time period are taken into account in an application of further corrections during the time period.