Fusing Unreliable Sensor Readings: Beyond Linear Mixing
2025-04-16
This article explores fusing measurements from two unreliable sensors for improved accuracy. Sensor A's readings contain noise, while Sensor B has a probability of outputting either the correct value or noise. The author first tries a linear weighted average, finding the optimal weight isn't 50/50, but around 0.58. Then, a threshold based on the difference between sensor readings is used; if the difference is below the threshold, Sensor B's reading is used, otherwise Sensor A's. This significantly improves accuracy. Finally, by adding a middle zone where a linear mix of both readings is used, further optimization is achieved, lowering the mean absolute error to 0.1163.
Development
sensor fusion