This paper focuses on the spatial registration algorithm under the earth-center earth-fixed(ECEF)coordinate system for multiple mobile platforms.The sensor measurement biases are discussed with the attitude informatio...This paper focuses on the spatial registration algorithm under the earth-center earth-fixed(ECEF)coordinate system for multiple mobile platforms.The sensor measurement biases are discussed with the attitude information of the platform into consideration.First,the biased measurement model is constructed.Besides,the maximum likelihood registration(MLR)algorithm is discussed to simultaneously estimate the measurement biases and the target state.Finally,an improved online MLR(IMLR)algorithm is proposed through a sliding window of adaptive size.Simulation results demonstrate that the proposed IMLR algorithm effectively improves the realtime ability of the system and can approach similar estimation accuracy to the conventional MLR algorithm.展开更多
基金the National Natural Science Foundation of China(No.61627810)the National Key Research and Development Program of China(No.2018YFB1305003)the Joint Fund of Advanced Aerospace Manufacturing Technology Research(No.2017-JCJQ-ZQ-031)。
文摘This paper focuses on the spatial registration algorithm under the earth-center earth-fixed(ECEF)coordinate system for multiple mobile platforms.The sensor measurement biases are discussed with the attitude information of the platform into consideration.First,the biased measurement model is constructed.Besides,the maximum likelihood registration(MLR)algorithm is discussed to simultaneously estimate the measurement biases and the target state.Finally,an improved online MLR(IMLR)algorithm is proposed through a sliding window of adaptive size.Simulation results demonstrate that the proposed IMLR algorithm effectively improves the realtime ability of the system and can approach similar estimation accuracy to the conventional MLR algorithm.
