Real-time Registration Technique with Earth-Centered Earth-Fixed (ECEF) Coordinate System

摘要

Registration problem is a prerequisite process for multisensor fusion. Classical registration algorithms are always based on the stereographic projection, which introduces errors to the registration of the long distance sensors. In this work, the measurement model and the dynamic equation are constructed in an Earth-centered Earth-fixed (ECEF) coordinates, and the real-time registration algorithm based on Kalman filter is proposed. Finally, the effectiveness of this algorithm is conformed by simulation.