Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms

doi:10.1007/s12204-022-2457-y

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.

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

CLC Number:

TP391
TP18

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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