三维异步传感器的配准偏差补偿

传感器配准是多传感器数据融合的重要环节,现有文献仅考虑了二维异步传感器配准偏差的估计与补偿问题,并且忽略了偏差估计方差对目标跟踪性能的影响。首先建立了三维传感器偏差配准模型,基于此模型推导了异步传感器偏差估计算法。考虑到偏差估计方差对跟踪系统跟踪性能的影响,基于集中式融合结构提出了一种新的偏差补偿算法,进一步提高了系统的跟踪精度。最后,利用蒙特卡罗仿真方法比较了不忽略偏差估计方差、忽略偏差估计方差、利用偏差真值进行精确补偿及不进行偏差补偿四种情形下的偏差补偿算法,结果表明了所提偏差补偿算法的有效性。

3D Asynchronous Sensor Bias Compensation

Sensor registration is vital in multiple sensors system in order to carry out data fusion.A new real-time algorithm for 3D asynchronous sensor bias compensation was provided based on centralized fusion structure.Firstly,the bias model and the bias estimation algorithm for 3D asynchronous sensors were proposed,and then the bias compensation was done considering the effect of variance of the bias estimates which was generally ignored in current literatures.Finally,four bias compensation algorithms,which included compensation using variance of the bias estimates,compensation omitting it,perfect compensation and no compensation,were compared by Monte Carlo simulation.The simulation results show that the algorithm is effective.