Midrange Estimation for Sensor Fusion
Arash Komaee · 2024
A nonlinear estimation technique is proposed to combine a precise but inaccurate sensor with an accurate but imprecise one in such a manner that their fusion enables both precise and accurate measurement of a physical quantity. This estimation technique solely relies on certain bounds on the measurement noise, rather than a detailed statistical description of the noise and the measured quantity. The estimation strategy is to estimate the slowly-varying offset of the inaccurate sensor based on a dynamic model for its temporal evolution, and the observations of the imprecise sensor. This measurement offset is estimated by recursively generating some tight upper and lower bounds for it, and then, taking the midpoint of these bounds as its midrange estimation. This estimation technique is verified effective both analytically and by Monte Carlo simulations.