单平台三维传感器组网配准的最小二乘法

针对单平台多部三维传感器组网的校准和姿态偏差给出了一种综合估计算法。根据不同传感器跟踪相同目标时的空中叠合条件,由一阶泰勒展式导出了相对偏差的线性化公式,再利用最小二乘法实时估计出传感器量测间存在的偏差,从而进行配准。本算法对传感器近距离组网或者单舰多传感器组网的配准具有较好的精度和稳健性。

Least Square for Single-Platform 3D-Sensor Netting Registration

An integrated estimating algorithm is presented for single-platform 3D sensors to their registration of netting and modifying calibration bias and orientation bias. According to the condition of aerial coincide of different sensors tracking a same target, this paper applies first-Taylor series to deduce linear formula, and to reduce relatively bias, again, use a least square algorithm real-timely to estimate the system bias among sensors and registration observed value. This algorithm has good precision and robust for short distance sensor netting or single-ship sensor netting registration.