The invention discloses a pod rapid self-alignment method based on multi-sensor joint
estimation, and relates to the technical field of safety management, and the method comprises the following steps: I, initializing a multi-source sensor and collecting environment information; iI, constructing an adaptive filtering structure and estimating the initial attitude of the pod; iII, analyzing the causal relationship of the multi-source
observation data and evaluating the credibility of the multi-source
observation data; iV, correcting the postures of the pods and eliminating redundant information in the multi-source
observation data; the method can significantly shorten the overall alignment time, improve the
system starting efficiency, avoid the influence of single sensor failure or
noise increase on the
system, improve the data fusion effect, dynamically adjust the filtering structure according to the actual operation condition, improve the adaptability to the complex environment, and improve the reliability of the
system. A non-linear
noise mode which is difficult to find by a traditional statistical method can be identified, abnormal data are stripped through a
noise index positioning and
data reconstruction mode, and the observation
data quality is improved.