A Kalman Filter Based Registration Approach for Multiple Asynchronous Sensors

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Authors
  1. Zhou,Y
Corporate Authors
Defence R&D Canada - Ottawa, Ottawa ONT (CAN)
Abstract
In this paper, a Kalman filter based registration approach is proposed for multiple sensors with asynchronous measurements. A time-variant linear sensor measurement model is obtained using a first-order approximation. The observability analysis is carried out and it is shown the system is uniformly completely observable. A modified measurement model is formulated which includes the asynchronous sensor models and the two-stage Kalman estimator is applied to estimate the target states along with the sensor bias errors. The proposed method can be implemented using a parallel structure and is computationally efficient. Simulation and real-life sensor data are used to demonstrate the effectiveness of the proposed approach. The results are compared with other existing registration techniques.

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Keywords
Multiple sensor fusion;Registration;Estimation;Kalman filter;Asynchronous sensor;Sensor fusion;Data registration
Report Number
DRDC-OTTAWA-TR-2003-220 — Technical Report
Date of publication
01 Dec 2003
Number of Pages
48
DSTKIM No
CA023534
CANDIS No
520870
Format(s):
Hardcopy;CD ROM

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