Abstract:Aiming at the problem of asynchronous fusion and time delay in the process of multi-sensor cooperative detection information fusion, a multi-sensor time registration fusion method based on multi-scale system theory is proposed in this paper. Firstly, a multi-scale system model with single state and multi measurements is established. Secondly, combined with scale recursive state fusion algorithm and ordered weighted average strategy (OWA) algorithm, the asynchronous fusion problem caused by different sampling rates among heterogeneous sensors is solved. Then, the information arrival of the fusion center is analyzed, and the sensor delay information is processed by prediction compensation method based on OWA algorithm. Finally, the simulation results show that the proposed method can effectively solve the asynchronous fusion and time delay problems in multi-sensor cooperative detection.