An algorithm for multi-sensor registration and target tracking based on UKF
Wang Wei-xing · Electronics Optics & Control · 2008
Traditional registration algorithms are all based on the stereographic projection without considering the influence of geometry shape of the earth.Therefore it will be not operable and can't track the target effectively if the distance between sensors is far away.And most of the current tracking methods do not take consideration of the influence of sensor errors.We present here a registration and target tracking algorithm with Unscented Kalman Filter(UKF) based on Earth-Centered Earth-Fixed(ECEF) Coordinate System.This algorithm not only considers the geometry of the earth,but can register sensors while tracking.The algorithm of coordinate conversion of sensor registration is given,and the align algorithm is deduced in detail.Then,a dynamic equation is built up for the target combining target movement model and sensor registration error model in one state equation,and UKF is used to estimate both the registration errors and system states simultaneously.Finally,Monte-Carlo simulation results are used to show the effectiveness of the proposed sensor registration algorithm.The algorithm,which has supplied a new method for registration of sensors apart far-away one another,will play an important role in engineering applications.