4.2 Sensor Fusion Basics
This page is a checklist of sensor fusion ideas. Later you can turn each block into a short cheat sheet with equations, diagrams, and example problems.
4.2.1 Fusion Architectures
- Centralized vs distributed / federated fusion
- Cascaded fusion (e.g. complementary filter feeding a KF)
- Loosely, tightly, and deeply coupled INS/GNSS
4.2.2 Complementary Filters
- High-pass / low-pass splitting idea
- First-order complementary filter for attitude
- Choosing time constants and bandwidth trade-offs
4.2.3 Observer-Based Fusion
- Luenberger-style observers
- Error dynamics and observer gains
- Reconstructing states from partial measurements
4.2.4 Multi-Rate Sensor Fusion
- Fast IMU with slower GPS or other sensors
- Synchronous vs asynchronous updates
- Time alignment, interpolation, and delay handling
4.2.5 Basic Kalman Filter Fusion (Concept)
- Prediction vs correction roles
- State vector, process model, measurement model
- Covariance as “trust” and innovation / residual
4.2.6 INS/GNSS Fusion
- GNSS aiding of inertial position and velocity
- Magnetometer, barometer, and other aiding sensors
- Spacecraft vs UAV fusion examples
4.2.7 Attitude Sensor Fusion
- Gyro + accelerometer + magnetometer
- Gyro + star tracker or sun sensor
- Typical small-UAV attitude fusion setups
4.2.8 Practical Fusion Issues
- Calibration and misalignment effects
- Outlier rejection and simple fault detection
- Start-up vs steady-state behaviour, drift vs noise