Asynchronous sensor space alignment algorithm

A spatial registration and sensor technology, applied in the field of information fusion

Inactive Publication Date: 2015-07-29
方洋旺 +1
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0005] The purpose of the embodiments of the present invention is to provide a method for spatial registration of asynchronou

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  • Asynchronous sensor space alignment algorithm

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Embodiment 1

[0113] Embodiment 1, specifically includes the following steps:

[0114] Step 1: Initialize the target and sensor carrier parameters:

[0115] Assume that the systematic error of sensor A is ξ A (k)=[100m, 0.01rad, 0.01rad] T , Random noise has a mean value of 0, and a covariance of diag[10 2 0.002 2 0.002 2 ] White noise, the sampling period is 0.09s, and the system error of sensor B is ξ B (k)=[-150m, 0.05rad, -0.02rad] T , Random noise has a mean value of 0, and a covariance of diag[10 2 0.002 2 0.002 2 ] White noise, the sampling period is 0.1s, the position of sensor A in the ECEF coordinate system is (0, 0, 0), the position of sensor B in the ECEF coordinate system is (10000, 10000, 5000), and the target is in ECEF The initial position in the coordinate system is (5000, 5000, 2000);

[0116] Step 2: Calculate the time registration result of sensor A according to formula (5);

[0117] Step 3: Calculate the pseudo measurement equation according to formula (9);

[0118] Acco...

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Abstract

The invention discloses an asynchronous sensor space alignment algorithm. Data of two sensors are synchronized by the aid of an interpolation and extrapolation time alignment algorithm, a pseudo measurement equation is built according to time alignment results, and the asynchronous sensor space alignment algorithm based on the interpolation and extrapolation time alignment algorithm and a geocentric earth fixed coordinate system is provided to solve the problem of space alignment under target maneuvering conditions. The building process of the pseudo measurement equation is unrelated to a target state vector, and pseudo measurement built by the time alignment results can be proved to be unrelated to the target state vector, so that the algorithm can effectively solve the problem of asynchronous sensor space alignment under the target maneuvering conditions. Simulation experiments confirm that the algorithm can still accurately estimate system errors of the sensors under the condition of snakelike maneuvering of a target, and the influence of the sampling period ratio of the sensors and random errors on system error estimation precision is analyzed by simulation.

Description

technical field [0001] The invention belongs to the technical field of information fusion, and in particular relates to an asynchronous sensor space registration algorithm. Background technique [0002] Today's battlefield environment is complex and changeable, and the electromagnetic environment is becoming more and more complex. Using a single sensor information to guide missiles will inevitably face problems such as inaccurate detection, vulnerability to enemy deception interference, and easy interruption of target information. Therefore, network targeting is used to integrate multi-source information. Providing guidance information for missiles to realize networked guidance has become an inevitable choice for future information warfare. [0003] In the process of fusion of multi-source information, due to factors such as sensor detection system error, sensor platform's own positioning error, and attitude error, spatial registration processing is required to improve the...

Claims

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Application Information

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IPC IPC(8): G06F19/00G01C25/00
Inventor 方洋旺雍霄驹伍友利
Owner 方洋旺
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