Sensor system comprising a fusion filter for common signal processing
A sensor system includes a plurality of sensor elements and a signal processing device. The plurality of sensor elements detect at least in part different primary measurement variables and utilize at least in part different measurement principles. The signal processing device is configured to evaluate the sensor signals of the sensor elements.
1. A sensor system arranged in a vehicle, the sensor system configured to output navigation data or driving dynamics data, the sensor system comprising:
a plurality of sensor elements, wherein the plurality of sensor elements each detect different physical variables of the vehicle and each output a sensor signal of the different physical variables measured by the sensor elements,
a signal processing device, wherein the signal processing device is configured to perform a joint evaluation of the sensor signals of the sensor elements, wherein the signal processing device has a strapdown algorithm unit configured to execute a strapdown algorithm for the output of navigation data or driving dynamics data,
wherein the signal processing device has a fusion filter which configured to provide a defined fusion data set in a course of the joint evaluation of at least the sensor signals and/or signals derived therefrom of the sensor elements,
wherein the fusion data set has in each case data with respect to defined physical variables, wherein the fusion data set comprises, with respect to at least one physical variable, a value of the physical variable and information about a data quality of the physical variable,
wherein the relative values of the respective physical variables of the fusion data set are correction values which are assigned in each case a variance as information about the data quality thereof,
wherein the output data of the strapdown algorithm unit additionally have the variances of the physical variables, and
wherein the strapdown algorithm unit provides the output data to a vehicle system.
2. The sensor system as claimed in claim 1 , wherein the fusion data set comprises a relative value, the relative value being a an offset value and/or change value and/or correction value and/or error value.
3. The sensor system of claim 1 , wherein the fusion filter is a Kalman filter which iteratively carries out at least prediction steps and correction steps and provides at least in part the fusion data set.
4. The sensor system as claimed in claim 3 , wherein the fusion filter is an error state space extended sequential Kalman filter, which comprises a linearization and in which error state information is calculated and/or estimated and/or which operates sequentially and in this case uses/takes account of input data available in the respective function step of the sequence.
5. The sensor system as claimed in claim 1 , wherein the signal processing device is configured so that the fusion filter calculates and/or provides and/or outputs the fusion data set at defined points in time.
6. The sensor system as claimed in claim 5 wherein the signal processing device is configured to calculate in the course of a function step of the fusion filter ( 5 ) the newest information and/or signals and/or data of:
the sensor elements by means of a vehicle model unit, and
a satellite navigation system,
are sequentially updated and/or included in the fusion filter and are taken into account during the calculation of the assigned function step of the fusion filter.