A maximum likelihood registration of mobile sensor (MLRM) algorithm is proposed in this paper to estimate sensor bias and target state off-line, and it is capable of batch processing. This algorithm is based on the maximum likelihood registration (MLR) algorithm for fixed platform sensor registration and aimed at solving the issue of attitude angle bias that exists in a mobile platform. The MLRM algorithm realizes effective estimate of measurement, attitude angle bias and target state by projection sensor measurements onto target state space, iteration of the maximizing expectation of sensor bias and target state and fusion target state estimation using the measurements from all sensors. The simulation result shows that the algorithm has fast convergence rate, high estimate precision of sensor bias and strong adaptability to low observability environment of bias, insensitivity to correlation between attitude and strong engineering practicability.
CUI Yaqi, XIONG Wei, HE You
. Mobile Platform Sensor Registration Algorithm Based on MLR[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2012
, 33(1)
: 118
-128
.
DOI: CNKI:11-1929/V.20111213.1132.001
[1] He Y, Xiu J J, Zhang J W, et al. Radar data processing with applications. 2nd ed. Beijing: Publishing House of Electronics Industry Press, 2009: 110-130. (in Chinese) 何友, 修建娟, 张晶炜, 等. 雷达数据处理及应用. 2版. 北京:电子工业出版社, 2009: 110-130.
[2] He Y, Wang G H, Peng Y N, et al. Multisensor information fusion with applications. 2nd ed. Beijing: Publishing House of Electronics Industry Press, 2007: 225-240. (in Chinese) 何友, 王国宏, 彭应宁, 等. 多传感器信息融合及应用. 2版. 北京:电子工业出版社, 2007: 225-240.
[3] Dong Y L, He Y, Wang G H. A novel real-time registration algorithm for radar networking. Journal of Nanjing University of Aeronautics and Astronautics, 2005, 37(3): 330-334. (in Chinese) 董云龙, 何友, 王国宏. 一种新的雷达组网实时误差配准算法. 南京航空航天大学学报, 2005, 37(3): 330-334.
[4] Dong Y L, He Y, Wang G H. Generalized least squares registration algorithm with Earth-Centered Earth-Fixed (ECEF) coordinate system. Acta Aeronautica et Astronautica Sinica, 2006, 27(3): 463-467. (in Chinese) 董云龙, 何友, 王国宏. 基于ECEF的广义最小二乘误差配准技术. 航空学报, 2006, 27(3): 463-467.
[5] Lin X D, Bar-Shalom Y, Kirubarajan T. Exact multisensor dynamic bias estimation with local tracks. IEEE Transactions on Aerospace and Electronic Systems, 2004, 40(2): 576-587.
[6] Lin X D, Kirubarajan T, Bar-Shalom Y. Multisensor-multitarget bias estimation for asynchronous sensors. Proceedings of SPIE Conference on Signal Processing, Sensor Fusion, and Target Recognition XIII, 2004, 5429: 105-116.
[7] Okello N N, Ristic B. Maximum likelihood registration for multiple dissimilar sensors. IEEE Transactions on Aerospace and Electronic Systems, 2003, 39(3): 1074-1083.
[8] Ristic B, Okello N N. Sensor registration in the ECEF coordinate system using the MLR algorithm. In Proceedings of the 6th International Conference on Information Fusion (Fusion 2003), Cairns, Australia, 2003, 135-140.
[9] Jesus G H, Besada P J A, Casar C J R. On-line multi-sensor registration for data fusion on airport surface. IEEE Transactions on Aerospace and Electronic Systems, 2007, 43(1): 356-370.
[10] Winston Li, Henry Leung. Simultaneous registration and fusion of multiple dissimilar sensors for cooperative driving. IEEE Transactions on Intelligent Transportation Systems, 2004, 5(2): 84-98.
[11] Okello N N, Challa S. Joint sensor registration and track-to-track fusion for distributed trackers. IEEE Transactions on Aerospace and Electronic Systems, 2004, 40(3): 808-823.
[12] Li W, Leung H, Zhou Y. Space-time registration of radar and ESM using unscented Kalman filter. IEEE Transactions on Aerospace and Electronic Systems, 2004, 40(3): 824-836.
[13] Cui Y Q, Song Q, He Y. A modified exact method-based mobile radar registration algorithm , Journal of Astronautics, 2011, 32(4): 903-910. (in Chinese) 崔亚奇, 宋强, 何友. 基于改进EX的机动雷达误差配准算法. 宇航学报, 2011, 32(4): 903-910.
[14] Kastella K, Yeary B, Zadra T. Bias modeling and estimation for GMTI applications. Proceedings of the 3rd International Conference on Information Fusion. 2000: 7-12.
[15] Xiong W, Pan X D, Peng Y N, et al. Unscented bias estimation technique for maneuvering sensor. Acta Aeronautica et Astronautica Sinica, 2010, 31(4): 819-824. (in Chinese) 熊伟, 潘旭东, 彭应宁, 等. 基于不敏变换的动基座传感器偏差估计方法. 航空学报, 2010, 31(4): 819-824.
CJA