Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms

doi:10.1007/s12204-022-2457-y

J Shanghai Jiaotong Univ Sci ›› 2022, Vol. 27 ›› Issue (5): 638-648.doi: 10.1007/s12204-022-2457-y

收稿日期:2020-11-12 出版日期:2022-09-28 发布日期:2022-09-03

Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms

L ¨U Runyan¹ (吕润妍), PENG Na² (彭娜), WU Yi³ (吴怡), CAI Yunze¹∗ (蔡云泽)

(1. Department of Automation; Key Laboratory of System Control and Information Processing of Ministry of Education; Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Shanghai Aerospace Electronic Technology Institute, Shanghai Academy of Spaceflight Technology, Shanghai 201109, China; 3. Alibaba (China) Co., Ltd., Hangzhou 311121, China)

Received:2020-11-12 Online:2022-09-28 Published:2022-09-03

摘要/Abstract

Abstract: This paper focuses on the spatial registration algorithm under the earth-centered earth-fixed (ECEF) coordinate system for multiple mobile platforms. The sensor measurement biases are discussed with the platform attitude information taken 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.

中图分类号:

TP391
TP18

. [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(5): 638-648.

LÜ Runyan (吕润妍), PENG Na (彭娜), WU Yi (吴怡), CAI Yunze∗ (蔡云泽). Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms[J]. J Shanghai Jiaotong Univ Sci, 2022, 27(5): 638-648.

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Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms

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