3D Asynchronous Sensor Bias Compensation
Sensor registration deals with the correction of sensor biases and is vital in multi-sensor tracking fusion. This paper provides a new real time algorithm for three dimensional (3D) asynchronous sensor bias compensation based on decentralized fusion architecture. Firstly, the bias model and the bias estimation method for 3D asynchronous sensors are presented, and then the bias compensation is done considering the effect of the variance of bias estimates that is generally ignored in current literatures. Finally,four bias compensation algorithms, including compensation with the variance of bias estimates,compensation without it, perfect compensation and no compensation, are compared by Monte Carlo simulation. The simulation results show that tracking performance is significantly improved with the bias compensation using the variance of bias estimates compared with the bias compensation omitting it, when there are more uncertainties in bias estimation.
Bias compensation 3D asynchronous sensor registration tracking fusion
Li Chen Guoqing Qi Andong Sheng
Automation School Nanjing University of Science & Technology Nanjing, Jiangsu, P.R.China
国际会议
The International Colloquium on Onformation Fusion 2007(2007年国际信息融合研讨会)
西安
英文
231-236
2007-08-22（万方平台首次上网日期，不代表论文的发表时间）