基于高精度导航设备的海上多传感器配准算法

Maritime sensor registration algorithm based on high-precision navigation equipment

中文关键词  数据融合  海上协同  传感器配准  地心坐标系  卡尔曼滤波

英文关键词  data fusion  maritime cooperation  sensor registration  ECEF coordinate system  Kalman filtering

中文摘要

      对海上多平台多传感器误差配准问题, 利用平台的高精度导航信息将各传感器的量测数据转换到地心坐标系下, 构建关于传感器偏差和舰艇姿态误差的伪测量模型, 采用卡尔曼滤波对配准误差进行在线估计和补偿. 算法较好地解决了传统的基于球极投影误差配准技术受地球曲率影响的不足, 并突破了离线配准算法假定配准误差恒定的限制. 仿真实验结果验证了算法的正确性和有效性.

英文摘要

      In the error registration of multiple sensors in multiple platforms on the sea, we make use of the highprecision navigation facilities to transform measurements of sensors to the ECEF(earth-centered earth-fixed) coordinates. The fictitious measurement models for both the sensor bias and the attitude errors are built, and a Kalman filter is employed to estimate and compensate the registration errors on line. This algorithm reduces the registration errors due to the curvature of the earth surface in classical registration algorithms based on stereographic projection. It also removes the necessary condition of constant registration error in the off-line algorithms. Simulation results demonstrate the correctness and validity of the algorithm.