Ill-condition Analysis and Robust Estimation for Multi-sensor Spatial Registration

doi:10.3969/j.issn.1000-1093.2017.10.012

Abstract

Abstract: In order to improve the accuracy and stability of multi-sensor spatial registration, the causes of the ill condition of the multi sensor spatial registration are analyzed based on LS estimation for multi-sensor spatial registration. The analysis result shows that the ill-condition of the Fisher information matrix is the key factor which influences the quality of system error parameter estimation. The conditional index of information matrix is used to measure the ill-condition of spatial registration. A new algorithm of compound modified singular value decomposition (CSVD) for robust estimation is proposed according to the characteristics of trapezia distribution of the information matrix singular values. The algorithm can effectively suppress uncertainty components and retain deterministic components in the observation equation by modifing only minor conditional index, and can effectively solve the multi sensor real time estimation of spatial registration. Two different scenarios of the estimatied results show that CSVD method can be used to significantly improve the estimation accuracy and stability of system error parameters. Key

Key words: informationprocessingtechnology, spatialregistration, ill-condition, robustestimation, singularvaluedecomposition, multi-sensor

CLC Number:

TN953⁺.6

PAN Jiang-huai, QIAO Hui. Ill-condition Analysis and Robust Estimation for Multi-sensor Spatial Registration[J]. Acta Armamentarii, 2017, 38(10): 1965-1973.

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第38卷第10期2017 年10月兵工学报ACTA
ARMAMENTARIIVol.38No.10Oct. 2017

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