| 异类传感器融合跟踪系统配准偏差的在线补偿 |
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| 引用本文： | 胡士强,敬忠良,田宏伟,胡洪涛.异类传感器融合跟踪系统配准偏差的在线补偿[J].控制理论与应用,2005,22(5):748-752. |
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| 作者姓名： | 胡士强 敬忠良 田宏伟 胡洪涛 |
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| 作者单位： | 1. 上海交通大学,自动化系,上海,200030;河北科技大学,自动化系,河北,石家庄,050054
2. 上海交通大学,自动化系,上海,200030 |
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| 基金项目： | 中国博士后科学基金(2003034265)，国家自然科学基金(60375008)，航天支撑技术基金(JD04)，河北省博士科学基金(B2004510) |
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| 摘 要： | 针对多传感器融合跟踪系统的时变配准偏差补偿问题,提出了一种配准偏差的在线估计和补偿算法.该算法首先依据多传感器提供的测量和跟踪信息,建立配准偏差的动态模型,然后利用极小化似然函数结合卡尔曼滤波方法在线估计系统偏差,利用估计的配准偏差,补偿和修正跟踪器的测量信息,实现多传感器的融合跟踪.最后针对异类传感器(雷达、红外)组成的多传感器跟踪系统,给出了应用该方法的仿真结果.
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| 关 键 词： | 多传感器 配准 补偿 融合 跟踪 |
| 文章编号： | 1000-8152（2005）05-0748-05 |
| 收稿时间： | 2003-06-11 |
| 修稿时间： | 2003-06-112005-05-30 |
On-line bias compensation for dissimilar sensor fusion tracking |
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| HU Shi-qiang,JING Zhong-liang,TIAN Hong-wei,HU Hong-tao.On-line bias compensation for dissimilar sensor fusion tracking[J].Control Theory & Applications,2005,22(5):748-752. |
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| Authors: | HU Shi-qiang JING Zhong-liang TIAN Hong-wei HU Hong-tao |
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| Affiliation: | Department of Automation,Shanghai Jiaotong University,Shanghai 200030,China; Department of Automation,Hebei University of Science and Technology,Shijiazhuang Hebei 050054,China |
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| Abstract: | For the time-variant registration errors of multi-sensor fusion tracking system,an on-line bias estimation and compensation algorithm for multi-sensor fusion tracking is proposed.A dynamic model of the bias is formulated based on the target information of measurements and estimation.A minimization of the likelihood function and Kalman filter are used to estimate the bias on-line,and the measurements are compensated for estimated bias.Finally,an example for the estimation of the bias parameters of radar and IRST sensors is given to illustrate the effectiveness of the approach. |
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| Keywords: | multi-sensor registration compensation fusion track |
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