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Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms

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Abstract

This paper focuses on the spatial registration algorithm under the earth-center earth-fixed (ECEF) coordinate system for multiple mobile platforms. The sensor measurement biases are discussed with the attitude information of the platform 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.

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Authors and Affiliations

  1. Department of Automation; Key Laboratory of System Control and Information Processing of Ministry of Education; Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Jiao Tong University, Shanghai, 200240, China

    Runyan Lü  (吕润妍) & Yunze Cai  (蔡云泽)

  2. Shanghai Aerospace Electronic Technology Institute, Shanghai Academy of Spaceflight Technology, Shanghai, 201109, China

    Na Peng  (彭 娜)

  3. Alibaba (China) Co., Ltd., Hangzhou, 311121, China

    Yi Wu  (吴 怡)

Authors
  1. Runyan Lü  (吕润妍)
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  2. Na Peng  (彭 娜)
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  3. Yi Wu  (吴 怡)
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  4. Yunze Cai  (蔡云泽)
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Corresponding author

Correspondence to Yunze Cai  (蔡云泽).

Additional information

Foundation item: the National Natural Science Foundation of China (No. 61627810), the National Key Research and Development Program of China (No. 2018YFB1305003), and the Joint Fund of Advanced Aerospace Manufacturing Technology Research (No. 2017-JCJQ-ZQ-031)

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Lü, R., Peng, N., Wu, Y. et al. Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms. J. Shanghai Jiaotong Univ. (Sci.) 27, 638–648 (2022). https://doi.org/10.1007/s12204-022-2457-y

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  • DOI: https://doi.org/10.1007/s12204-022-2457-y

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