Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms

作     者：吕润妍 彭娜 吴怡 蔡云泽 LÜRunyan;PENG Na;WU Yi;CAI Yunze

作者机构：Department of AutomationKey Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Jiao Tong UniversityShanghai200240China Shanghai Aerospace Electronic Technology InstituteShanghai Academy of Spaceflight TechnologyShanghai201109China Alibaba(China)Co.Ltd.Hangzhou311121China 

出 版 物：《Journal of Shanghai Jiaotong university(Science)》 (上海交通大学学报（英文版）)

年 卷 期：2022年第27卷第5期

页      面：638-648页

核心收录：

学科分类：08[工学] 081104[工学-模式识别与智能系统] 081203[工学-计算机应用技术] 0714[理学-统计学（可授理学、经济学学位）] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

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

主　　题：spatial registration 3D sensors improved online maximum likelihood registration(IMLR) 

摘      要：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.