MulTI-sensor InformaTIon Fusion (MSIF) is the use of computer technology to automatically analyze and synthesize information and data from multiple sensors or multiple sources under certain criteria to complete the required decisions and estimates. And the information processing process. The basic principle of multi-sensor information fusion technology is like the process of human brain comprehensive processing information. Multi-level, multi-space information complementation and optimization combination processing are performed, and finally a consistent interpretation of the observation environment is generated. In this process, multi-source data should be fully utilized for rational control and use, and the ultimate goal of information fusion is based on the separated observation information obtained by each sensor, and more useful information can be derived through multi-level and multi-faceted combination of information. This not only takes advantage of the synergy of multiple sensors, but also comprehensively processes the data of other information sources to improve the intelligence of the entire sensor system. The multi-sensor fusion system has four notable features:

1. Redundancy of information: For a certain feature of the environment, multiple pieces of information (or multiple different moments of a single sensor) can be obtained, which are redundant and have different reliability. Through fusion processing, more accurate and reliable information can be extracted from it. In addition, the redundancy of information can improve the stability of the system, thus avoiding the impact on the entire system due to the failure of a single sensor.

2. Complementarity of information: Different kinds of sensors can provide different kinds of information for the system. The objects described by these information are different environmental characteristics, and they are complementary to each other. If you define a coordinate space consisting of all features, then the information provided by each sensor belongs to only one subspace of the entire space, independent of the space formed by other sensors.

3. Timeliness of information processing: The processing of each sensor is independent of each other. The entire processing process can adopt parallel heat conduction processing mechanism, so that the system has faster processing speed and provides more timely processing results.

4. Low cost of information processing: Multiple sensors can get the amount of information equivalent to a single sensor at a lower cost. On the other hand, if the information provided by a single sensor is not used to implement other functions, the sum of the cost of a single sensor and the cost of multiple sensors is comparable.

Information fusion, as a comprehensive processing of multi-sensor information, has inherent complexity. In the information fusion process, there are three main types of information fusion systems based on the original data processing methods: centralized, distributed, and hybrid.

1. Centralized: The raw data obtained by each sensor is sent directly to the central processor for fusion processing, which can realize real-time fusion. The data processing has high precision and flexible algorithm. The disadvantage is that the processor has high requirements and reliability. Low, large amount of data, it is difficult to achieve.

2. Distributed: Each sensor first performs local processing on the obtained raw data, including preprocessing, classifying and extracting characteristic information of the original data, and making decisions respectively through respective decision criteria, and then sending the results to the fusion center. Fusion to get the final decision. Distributed communication bandwidth requirements are low, computational speed, reliability and continuity are good, but the tracking accuracy is not centralized.

3. Hybrid: In most cases, the above two are combined differently to form a hybrid structure. It retains the advantages of the above two types of systems, but it costs a lot more in communication and computing. However, such systems also have the advantages that are unmatched by the above two types of systems, and such structures are often used in practical situations.

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