Multi-sensor system error registration method and system based on recursion correction

Abstract

The invention provides a multi-sensor system error registration method and system based on recursive correction. The method comprises the steps: building a discretization model of a system error estimation equation according to the position difference, obtained by two radars, of the same target in a geographic coordinate system and the relation equation of system errors and measurement; calculating an initial iteration parameter of the discretization model at the initial estimation moment by utilizing a generalized least square algorithm, then obtaining a recursion model of system error estimation at the current moment by correcting an error estimation value at the previous moment based on a matrix inverse low-rank correction method, and carrying out error registration on the multi-sensorsystem through iteration by using the recursion model. By applying the scheme, the problems that a large amount of data needs to be stored, data accumulation is waited, the calculated amount is large,the real-time performance is poor, repeated work exists and the like in traditional registration based on the GLS method can be solved, and meanwhile the convergence speed of the registration methodand the robustness to model parameters can be guaranteed.

Description

technical field [0001] The present application relates to the field of system error estimation compensation, in particular to a method and system for multi-sensor system error registration based on recursive correction. Background technique [0002] In the multi-radar network data processing, the measurement of the target by the sensor is carried out in their own independent local coordinate system. If the error of the sensor system is too large, it will lead to the failure of the correlation and fusion of different radar tracking tracks, so the measurement data is in progress. Registration is necessary before information fusion. When the sensor platform is fixed, the system error can be considered fixed without considering the regional climate, terrain and other conditions. [0003] The traditional GLS-based registration algorithm is suitable for estimating fixed system errors. It has better robustness and faster convergence, but the disadvantage is that it needs to wait f...

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Problems solved by technology

[0003] The traditional GLS-based registration algorithm is suitable for estimating fixed system errors. It has better robustness and faster convergence, but the disadvantage is that it needs to wait for the number of received measurement values ​​to accumulate to a certain amount before calculating the error estimate. , a large amount of data needs to be stored, the amount of calculation is large, and the real-time performance is poor

When the error calculated based on the existing data does not meet the accuracy, a complete calculation process must be performed when adding a new measurement value, resulting in a lot of repetitive work

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