Aiming at above questions this paper combined the predict estimate with the technology of sequential weighted fusion at the basis of the existing research,accordingly a new multisensor predict weighted fusion method which could adapt to network-delay was proposed.

Traditional measurement weighted fusion(TMWF) has its limitation for it requires equal dimensional measurement,while different subsystems in the integrated navigation system provide different dimensional measurements.

For the multisensor systems, using the weighted least squares (WLS) method, a weighted measurement fusion equation and a equivalent weighted measurement fusion system are obtained.

For the multisensor system with unknown noise statistics, and with the measurement matrices having the same factor, based on the weighted least squares(WLS) method, a weighted fusion measurement equation is obtained, and it together with the state equation to constitute a equivalent weighted measurement fusion system.

In the process of information fusion,when the colored observation noises are models,observation-expand filter can eliminate the influence of colored observation noises and the optimal weighted measurement fusion formula is obtained then the optimal results are accounted.

Real-time Outliers Detection in Multi-Source Trajectory Data Based on Weighted Fusion;

By combining the hardware redundant technique with weighted fusion algorithm and gray forecast model,a mining robot transducer fault-tolerant system based on mixed redundancy is constructed,with abilities of sensor fault detection,fault isolation and tolerance,and it ensures that the sensor s output is always valid when sensor s faults are not happened simultaneously.

As different properties are reflected by the dynamic model and static-state model, one multi-model weighted fusion method which is used to estimate the torque is proposed in this paper.