Multi-modal sensor data preprocessing method for special vehicle

The invention relates to a multi-mode sensor data preprocessing method for a special vehicle, and belongs to the field of special vehicle detection and early warning. The method comprises the following steps: for one-dimensional data generated by a special vehicle and collected by a multi-modal sensor, performing data cleaning by adopting a data cleaning method based on context reasoning; in the running process of a special automobile, when the normal working condition data volume collected by a multi-mode sensor is larger than the abnormal working condition data volume, and the normal working condition data has a small early warning detection effect on the abnormal working condition, a data balancing method based on K-Means clustering and a diffusion network is adopted to achieve data balancing; aiming at multi-modal data indexes collected by a plurality of sensors of a special automobile, a data fusion method of a graph neural network based on an attention mechanism and a multi-scale adaptive optimization m