The application of multi sensor data fusion based on the improved BP neural

network algorithm
Bang-cheng Zhang1,2, Jian-qiao Lin2, Zhen-chen Chang1*, Xiao-jing Yin2, Zhi Gao3
1.Changchun Rail Way Vehicles Co., Ltd, Jilin, Changchun, 130012, China
E-mail: changzhenchen@cccar.com.cn
2.School of Mechatronic Engineering, Changchun University of Technology, Jilin, Changchun 130012, China
E-mail: zhangbangcheng@ccut.edu.cn
ljq_nemoy@163.com
yinxiaojing2011@163.com
3.Institute Of Technology, Changchun University of Technology, Jilin, Changchun 130012, China
E-mail: gaozhi@ccut.edu.cn
Abstract: In order to improve the accuracy of multi sensor data fusion, a new data fusion algorithm based on BP neural
network is proposed, which can prevent the network from not convergence and improve the performance of the network.
The calibration data is used as the experimental data which tested in the sensor integrated test stand with Pt100
temperature sensor. The simulation results show that the improved BP neural network for Pt100 temperature sensor data
fusion has better accuracy of data fusion compared with the standard BP neural network. The proposed algorithm can be
applied in multi-sensor data fusion.
Key Words: Multi sensor, BP neural network, Data fusion, Matlab simulation

paper, and the improved BP algorithm is applied to improve

1 INTRODUCTION
In the case of the complex work environment, such as
high pressure, electromagnetic interference and sensor
direct interference and other factors, the signal obtained by
the sensor detection target is submerged in a large number
of noise, uncorrelated signal and clutter. By using multiple
sensors to detect the target and fuse the collected data, it can
break through the limitation of a single sensor
measurement, avoid the single sensor information blind
area, and improve the accuracy of the measurement [1].
At present, there are some methods of data fusion
including BP neural network, Kalman, D-S evidential
theory and fuzzy logic. Aiming at the dynamic inertial
measurement data and machine frame encoder information,
the Kalman filter algorithm was used to compensate the
dynamic measuring error and calculation error, so as to
locate the pose (position and orientation) of the parallel
machine tool moving platform accurately [3]. The
covariance matching relationship based on Kalman filter
was used in the literature [4], fuzzy reasoning was used to
get the weights of data fusion, and then the state estimation
of the Kalman filter of each sensor was fused to obtain the
required target information. Within analyzing D-S
evidential theory for data fusion in theory, D-S evidential
theory was used to data fusion for target recognition and
had very good results [5]. In view of fact that the structure of
the BP neural network algorithm is simple and fast, BP
neural network algorithm is used for data fusion in this
the accuracy of data fusion on the basis of the traditional BP
neural network.
During the training of BP neural network, the
oscillation phenomenon in network training is not inhibited
by the single additive momentum. The BP neural network
algorithm of multi momentum term is adopted to improve
the convergence speed of the network, the accuracy and anti
disturbance ability of the network.
Pt100 temperature sensor as the test object, this paper
adopts the improved BP neural network to fuse data of
multi Pt100 sensor. The experimental data is calibration
data of Pt100 in the sensor integrated test bench, and the
multi-sensor data fusion of the BP neural network is
verified. The experimental results show that the improved
BP neural network can increase the accuracy of data fusion
effectively, it can be applied in the engineering.
2 BP NEURAL NETWORK ALGORITHM
2.1 Standard BP algorithm
The connection weight of standard BP neural network
is modified by the reverse direction of the gradient of the
error function. When the input data x(n) , the data is
transmitted through the network, the output of the output
layer of the j neuron is:
vJi ( n ) = f ( u Jj ( n ) ) (1)
I M
where uJj ( n ) = ij ( n ) vIi ( n ) , vIi ( n ) = mi ( n ) xMm ( n ) ,
i =1 m =1

This work is supported by the Foundation of Department of Education of mi ( n ) is connection weight of the input layer to the hidden
JiLin Province of China under Grant 2014117,and the Foundation of
layer, ij ( n ) is connection weight of the hidden layer to the
Department of Science and Technology of JiLin Province of China under Grant
20150204073GX. output layer weights. And vIi ( n) , u Jj (n) are the input and
Zhen-chen, Chang, Communication author ,E-mailchangzhenchen@cccar.com.cn

978-1-4673-9714-8/16/$31.00 2016
c IEEE 3842
output of the hidden layer respectively. f ( ) is the
activation function, the error of the output layer of the j
neuron can be written as:
e j ( n ) = d j ( n ) vJj ( n )
The total error of the network is obtained as follow:
1 J
e ( n ) = e 2j ( n ) (3)
2 j =1
where d j ( n ) is the network expected output.
When the error is propagated along the network, the
connection weights ( ij ) of the hidden layer and the output
layer are adjusted, according to the steepest descent
method, calculate the error on ij gradient, let gradient is
e ( n )
, and then along the direction of reverse to adjust
ij ( n )
the connection weight.
Finally get the correction of the connection weight:
ij ( n ) = e j ( n ) v Ii ( n ) (4)
When the error is propagated forward, the connection
weight ( mi ) is adjusted between the input layer and the
hidden layer:
mi ( n ) = Ii ( n ) x ( n )
where is the learning rate, is the local gradient. In BP
network, the data is transmitted from the input layer to the
output layer through the hidden layer. When the connection
weights of the network are training, the weights of the
network are corrected along the direction of the error from
the input layer to the output layer through the hidden layer.
With the continuous learning, the error is gradually
reduced, and the training will not stop until the error is
reduced to a predetermined request, or the iteration
numbers achieve a predetermined number of learning.
2.2 Additional momentum method
The momentum BP method is introduced into the
momentum factor (0 < < 1) based on the standard BP
algorithm, it makes the connection weights correction
quantity that has certain inertia:
( n ) = (1 ) e ( n ) + ( n 1) (6) nonlinear mapping by appropriate increase of the number of
Due to the increase of a factor (n 1) , which
means the connection weight update direction and
magnitude are related with not only the calculated gradient,
but also related to the direction and magnitude of the last
update, this factor adding to update the weight has a certain
inertia, certain anti shock ability and speed up the
convergence ability.
The improved algorithm of the momentum BP method
is used in this paper, the corresponding connection weight
correction formula is obtained as follows:
( n ) = (1 ) e ( n ) + ( n 1) + ( n 2 ) (7) M = log 2 n , n is the input layer neuron number, which is
This method is based on the ordinary added
momentum ( n 1) , and then add a term ( n 2 ) ,
2016 28th Chinese Control and Decision Conference (CCDC)
which is the weight of the ( n 1) moment value. In order
to make the effect of the extreme value of the time,
should be less than .The change direction of the
(2) connecting weights of the two moments is considered, this
can be used to improve the convergence rate for the higher
learning rate coefficient. The "inertia effect" is also stronger,
the ability to inhibit the emergence of the network has also
been enhanced. The addition of momentum method not
only considers the effect of the error in the gradient, but
also considers the variation tendency of the error surface, it
allows the neglect of small changes in the network. From
the stability of the learning process, the momentum term of
this method is equivalent to the damping term which
decreases the oscillation of the learning process improving
the convergence and finding a better solution.
3 IMPROVED BP ALGORITHM FOR
MULTI SENSOR DATA FUSION
3.1 Data preprocessing
In solving practical problems in BP network, the
network always comes up a situation that the network does
not converge or converge slowly. It is necessary to improve
the convergence rate of the network before the data enter
the network. There is not have a generally accepted method
of preprocessing, the most frequently used methods are the
(5) most value method, the sum value method, the peak value
method ,etc. Because of this paper is only for a temperature
parameter, in meeting the accuracy requirements, in order
to improve the performance of network, the temperature
data is preprocessed by the method of the maximum value
method, and the formula is obtained as follows:
x xmin
xi = i (8)
xmax xmin
where xi and xi are untreated and treated data respectively,
xmax xmin are the maximum and minimum value before
the data processing, the processed data input to the network
and training.
3.2 BP neural network design
BP network can include one or more hidden layers, but
it has been proved that the network can achieve arbitrary
nodes, so that the single hidden layer can satisfy the
requirements of most of the application. Because the test
sample is less, it can be used in three layers including one
input layer, one hidden layer and one output layer.
The number of nodes in the input layer depends on the
dimension of the input vector. Because the input of the
network is the value of the 4 Pt100 temperature sensors, the
number of the input layer nodes is 4.
There is no ideal analytic formula for the number of
nodes in the hidden layer. The usual method is to use
empirical formula to estimate the value of the formula
2 of the number of hidden layer neurons.
Since this paper is to fuse the data from multiple
temperature sensors, the output layer neuron number is 1.
3843
 The transfer function has sigmoid function and linear Training
function. Because the sigmoid function is mapped to (-1,1) Data
or (0,1) range from negative infinity to positive infinity, it
has a nonlinear amplification function, so the transfer
function of the hidden layer is chosen as the Log-sigmoid
Training
function and the transfer function of the output layer is Network
linear function.
BP neural network is used to determine the weights of Training again
the iterative update, the initial value is too large or too small
which can affect the performance of the neural network,
usually the initial weight is defined as a small nonzero If error set value No
value, the empirical value is (2.4/ F,2.4/ F) , where F is
the number of neurons connected to the input end of the
weight. So the initial weight is the random number over
(-0.6, 0.6). Test Data Yes
The expected error of the network training is 0.01, the
learning rate is = 0.8 , the maximum learning number is
Fusion Result
1000, the momentum factors are = 0.7 , = 0.5 .

3.3 Basic steps of data fusion for improved BP Fig 1. Network training flow chart
algorithm The network is constructed by the Pt100 temperature
sensor training data and test data. The training data and test
Step (1): The training data xi is normalized
data are obtained from comprehensive test-bed. 15 set of

preprocessing according to the way of chapter 3.1, get xi ; data is simulated in the Matlab. The simulation data are

shown in the following table:
the xi as the input of neural network, combined with the Table 1. Sensor data
connection weights to calculate the output of the output Calibration
Num Sensor1 Sensor2 Sensor3 Sensor4
vIi ( n ) and neural network error e ( n ) ; value
1 12.62 11.28 12.41 11.97 12
Step (2): Determine whether the error is less than the
default value, if it is, the error will be propagated back 2 12.81 12.84 13.06 12.89 13
along the network, and modify the output layer and the
hidden layer and the hidden layer and the input layer 3 14.25 15.83 14.55 15.29 15
( n) ( n) 4 19.82 19.58 18.09 19.41 19
connection weights ij and mi , if not, jump out of
the network directly, and the training is completed; 5 21.26 21.91 20.19 21.51 21
Step (3): Calculate the output of network by using the
modified connection weights, then repeat step(2) and 6 23.19 24.31 24.64 23.55 24
step(3); 7 25.55 25.07 26.38 26.35 26
Step (4): When the error e ( n ) or learning times ( )
8 29.09 29.69 28.63 29.31 30
meet predetermined requirements, the network training is
done. 9 32.91 32.86 32.90 31.325 33

10 35.92 35.35 34.06 34.23 35

4 DATA SIMULATION 11 37.31 38.51 37.87 37.99 38
Four Pt100 temperature sensors are installed in the
12 42.94 42.486 41.73 42.91 43
sensor detection test bench and the temperature of the test
bed is adjusted. Four sensors are monitored in real time, and 13 47.91 46.78 47.53 46.68 48
the data are stored in the database. The BP neural network
training process is shown in figure 1. 14 49.97 50.31 50.59 50.17 50

15 52.60 52.04 51.87 52.44 52

This paper simulates the temperature data fusion by
using the standard BP method and improved BP method.
BP neural network is designed and train to get the final
network by using the above method. The comparison of
RMS error values are given in figure 3.

3844 2016 28th Chinese Control and Decision Conference (CCDC)

 Table 2 results of data fusion (/)
1

Standard Improved Calibration

0.9 Improved BP network Number
Standard BP network BP BP value
0.8 1 12.18 12.92 12
0.7
2 12.49 13.27 13
3 15.49 15.20 15
0.6
4 20.01 19.17 19
Error RMS

0.5 5 22.65 21.45 21

6 23.88 24.45 24
0.4
7 26.79 26.41 26
0.3 8 29.74 29.80 30
0.2
9 31.68 32.62 33
10 34.61 34.89 35
0.1
11 37.08 37.72 38
0
0 50 100 150 200 250 300 350 400
12 43.53 42.82 43
Iteration number
13 47.39 47.74 48
14 50.31 50.16 50
Fig 2. Local amplification of the RMS of network training error
15 51.28 51.95 52
1 The average error of the fusion results of the standard
0.9 Improved BP network
momentum method is 0.654, while the error of the modified
Standard BP network BP momentum method is 0.299. The fusion accuracy of the
0.8
relative standard momentum method is improved.
0.7
5 CONCLUDING REMARKS
0.6

The simulation results show that the data fusion based

Error RMS

0.5
on BP neural network can improve the accuracy of data
0.4
acquisition effectively. From the point of view of the error
0.3 between the results of the training and the expectation, the
0.2
improved momentum BP method is used to train the
network, and the root mean square value of the error is
0.1
smaller than the standard momentum method; From the
0
0 500 1000 1500 2000 2500 3000 point of view of data fusion, the fusion error of the
Iteration number
improved momentum BP method is small, and the fusion
Fig 3. Comparison of the RMS value of network training error
accuracy is improved. The network performance is affected
by the training data capacity, a large amount of data is used
By Fig 2 and Fig 3, it can be seen that the error convergence
rate of the improved BP momentum method is fast and the RMS to train the network, which will make the performance of
error values is small, so the network performance of the improved the network better. When the actual working environment
BP momentum is better than the standard BP method. of the sensor becomes worse, the improved momentum
Put the test data into the training network and fuse the data, method can further improve the network's ability to resist
fusion results is depicted in figure 4. interference.

55
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