基于地心地固坐标系的多运动平台实时配准方法

固定平台情况下基于地心地固（ECEF）坐标系的配准模型，在运动平台中已不适用，鉴于此，在考虑系统误差固定不变的条件下，推导了基于ECEF坐标系的多运动平台多传感器的配准模型，并提出采用卡尔曼（Kalman）滤波方法来估计系统偏差，实现了对固定系统误差的实时估计，便于工程应用实现。仿真表明了该方法的有效性。

Multiple Mobile Platforms on-Line Registration in Earth-Centered Earth-Fixed Coordinate System

For multiple mobile platforms,the multiple fixed platforms registration method in earth-centered earth-fixed(ECEF) coordinate system is not proper.The mobile multi-platform multi-sensor registration model is built up in the geodetic coordinate conversion when considering system error unchangeable.And the Kalman filter(K-ECEF) registration algorithm is proposed to estimate system error,and they are easy for engineering application.The simulation results shows the effectiveness of these methods.