MULTISENSOR SYSTEM, SENSOR BIAS ESTIMATION DEVICE, SENSOR BIAS ESTIMATION METHOD, AND SENSOR BIAS ESTIMATION PROGRAM

摘要

PROBLEM TO BE SOLVED: To enable the bias of each of a plurality of sensors to be estimated by even asynchronous observation of a moving target.SOLUTION: A sensor bias estimation device according to an embodiment performs time synchronization and determination of the same target on the basis of wake data that is a target state value of a local coordinate system or global coordinate system of a target being observed by each of a plurality of sensors and the sensor state values in global coordinate system of the plurality of sensors, creates a dataset consisting of a target position in local coordinate system and a sensor position in global coordinate system corresponding to the time-synchronized wake data of one of the sensors determined to be the same target and a target position in local coordinate system and a sensor position in global coordinate system corresponding to the time-synchronized wake data of the other of the sensors, outputs the created data as a same target dataset, collects the same target datasets to generate a plurality of same target datasets, and estimates the bias of each of the plurality of sensors by a least square method on the basis of the plurality of same target datasets.SELECTED DRAWING: Figure 1