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基于高精度导航设备的海上多传感器配准算法 被引量：5

Maritime sensor registration algorithm based on high-precision navigation equipment
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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. 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.
作者 王成飞 王航宇 石章松 占明锋
机构地区 海军工程大学电子工程学院
出处 《控制理论与应用》 EI CAS CSCD 北大核心 2011年第4期497-503,共7页 Control Theory & Applications
基金 湖北省自然科学基金资助项目(2006ABA010 2009CDB098 2009CDB274)
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 data fusion maritime cooperation sensor registration ECEF coordinate system Kalman filtering
分类号 TP212 [自动化与计算机技术—检测技术与自动化装置]
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参考文献8

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共引文献10

同被引文献40

  • 1胡士强,张天桥.Sensor Registration in Asynchronous Data Fusion[J].Journal of Beijing Institute of Technology,2001,10(3):285-290. 被引量：3
  • 2刘淼森,王辉华,陈栋.协同作战中多平台定位算法与仿真研究[J].计算机仿真,2006,23(7):22-26. 被引量：3
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  • 10潘江怀,李洪梅,何佳洲.三维传感器组网偏差估计方法[J].火力与指挥控制,2008,33(4):104-106. 被引量：11

引证文献5

二级引证文献9

控制理论与应用
2011年 第4期

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