Registration deviation on line compensation method of multisensor grafting tracing system

A technology of multi-sensor fusion and registration deviation, applied in radio wave measurement systems, instruments, road network navigators, etc., can solve the problems of difficult to achieve real-time processing, large amount of calculation, low effectiveness, etc., to simplify data association and Tracking algorithms, improving processing speed, and speeding up the effect of the convergence process

Inactive Publication Date: 2004-03-03
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

[0006] 2. When there is a time-varying registration deviation, how to realize the online estimation of the registration deviation;
[0007] 3. The algorithm relies too much on historical measurement information, and its robustness is poor, so it is difficult to realize real-time processing
The recursive least squares method is less effective and can only realize the estimation of fixed registration deviation. The Kalman filter method of joint estimation of system state and registration deviation is very computationally intensive, and has strict restrictions on error sources. less robust
The main reason is that there is no effective method that can deal with most of the error sources that exist, and can estimate and compensate the registration deviation in real time with only a small amount of measurement information.

Method used

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  • Registration deviation on line compensation method of multisensor grafting tracing system
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  • Registration deviation on line compensation method of multisensor grafting tracing system

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Embodiment Construction

[0020] In order to better understand the technical solutions of the present invention, the implementation manners of the present invention will be further described below in conjunction with the accompanying drawings.

[0021] figure 1 It is an overall block diagram of an online compensation method for registration deviation of a multi-sensor fusion tracking system proposed by the present invention. The specific implementation details of each part are as follows:

[0022] 1. Sensor measurement information

[0023] Each sensor in the sensor measurement information module measures the target, obtains the measurement information of the target, and sends the measurement information to the sensor space registration module.

[0024] 2. Sensor spatial registration

[0025] The output of the sensor measurement information module is sent to the spatial registration module, and the spatial registration module dynamically compensates the compensation input information of the deviation...

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Abstract

An in-line compensation method for the match error of multiple sensors integrated tracking system features that the maximal probability estimation method is used to determine the initial error, extracting the system error by use of the information measured by sensors, and the filtered tracking information, and performing in-line compensation.

Description

Technical field: [0001] The invention relates to an on-line compensation method for registration deviation of a multi-sensor fusion tracking system, which is a method in the fields of avionics technology, robot navigation system, air traffic control system, multi-sensor positioning system, digital city security system, precision guidance system, etc. This core technology can be widely used in various civil and military systems. Background technique: [0002] In the sensor network detection and tracking system composed of multiple sensors, in order to obtain the "unified" information of the target, it is necessary to convert the data measured by each sensor into the common reference coordinate system, but due to the existence of the sensor system deviation and measurement error, the The positioning and tracking of a single target will produce a large deviation, which will affect the positioning and tracking accuracy of the target. For a multi-target tracking system, the exist...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/28G01S7/02
Inventor 胡士强敬忠良
Owner SHANGHAI JIAO TONG UNIV
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