无人机多传感器数据融合研究综述  

Review on Multi-sensor Data Fusion Research for Unmanned Aerial Vehicles

作　　者：李庚松 刘艺 郑奇斌 杨国利 刘坤 王强 刁兴春 LI Geng-Song;LIU Yi;ZHENG Qi-Bin;YANG Guo-Li;LIU Kun;WANG Qiang;DIAO Xing-Chun(National Innovation Institute of Defense Technology,Beijing 100071,China;Academy of Military Sciences,Beijing 100091,China)

机构地区：[1]国防科技创新研究院,北京100071 [2]军事科学院,北京100091

出　　处：《软件学报》2025年第4期1881-1905,共25页Journal of Software

基　　金：国家自然科学基金青年科学基金(72201275);第八届中国科协青年人才托举工程(2022QNRC001)。

摘　　要：随着相关技术的快速发展,无人机所搭载的传感器愈发精确和多样,赋予了无人机强大的感知能力,也使得多传感器数据的处理分析成为无人机应用的一大挑战.数据融合是解决这一问题的关键技术,其通过检测、关联、组合、估计的流程实现多传感器数据的融合利用,获取准确的无人机状态和目标信息为决策提供支撑.对无人机的多传感器数据融合研究展开综述:介绍无人机系统组成;回顾并分类无人机多传感器数据融合方法,在此基础上分析比较各类方法的特点;归纳概述无人机多传感器数据融合在不同领域中的应用现状;最后展望无人机多传感器数据融合的未来发展方向.With the rapid development of related technologies,sensors carried by unmanned aerial vehicles(UAVs)are becoming more precise and multifarious,which endows UAVs with strong sensing ability,and poses a large challenge to the processing and analysis of multi-sensor data in UAV applications.Data fusion is the key technology to solve this problem,which realizes the fusion and utilization of multi-sensor data through the process of detection,association,combination and estimation,and obtains accurate UAV state and target information to support decision-making.This study reviews the multi-sensor data fusion research for UAVs.It introduces UAV system components,reviews and classifies UAV multi-sensor data fusion methods,analyzes and compares the characteristics of various methods,summarizes the applications of UAV multi-sensor data fusion in different fields,and finally looks forward to the future development directions of UAV multi-sensor data fusion.

关 键 词：无人机 多传感器 数据融合 动态系统状态估计 特征提取 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]