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

• Automation System & Theory • Previous Articles     Next Articles

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. (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

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.

Key words: spatial registration, 3D sensors, improved online maximum likelihood registration (IMLR)

CLC Number: