基于黑板结构的多传感器数据溶合系统FS-1

本文借助于数据溶合方法中的引导法构成的系统在移动式机器人定位中取得了令人满意的结果.本系统的特点是:用分布式黑板作为计算机构,使系统具有并行处理能力;把时间(时序)推理引入系统.在数据溶合中考虑了时间的重要作用.本文提出的溶合方法和结构原则上可用于其它相关的问题领域.

This paper briefs several methods of sensor data fusion and proposes a system based on the guidingmethod. This system gives satisfactory results in the mobile robot positioning. It has the following charac-teristics: 1. capable of parallel processing by employing a distributed blackboard as computingmechanism; 2. taking the crucial factor time into consideration by introducing temporal reasoning into thesystem. Our data fusion method and its implementation architecture can in principle be extended to otherrelevant domains.