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Spatial multisource distance measuring sensor registering method based on expectation maximization

A technology of expectation maximization and ranging sensor, which is applied in the field of navigation and positioning, and can solve problems such as unavailable registration and unsatisfactory registration effect

Inactive Publication Date: 2015-06-17
XI AN JIAOTONG UNIV
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Problems solved by technology

Under the condition that there is only a certain measurement information in multiple sensors, such as the measurement information only has distance measurement information, the above methods often cannot perform registration or the registration effect is not ideal

Method used

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  • Spatial multisource distance measuring sensor registering method based on expectation maximization
  • Spatial multisource distance measuring sensor registering method based on expectation maximization
  • Spatial multisource distance measuring sensor registering method based on expectation maximization

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Embodiment Construction

[0035] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0036] The spatial registration algorithm of multi-source ranging sensors based on expectation maximization includes the following steps:

[0037] In the first step, initialize the smoothing value for the first round. This spatial registration algorithm is aimed at sensor registration and target positioning in a multi-source ranging and positioning environment, such as figure 1 As shown, the algorithm embeds an iterative Kalman filter smoother (IEKS) into the EM algorithm, and the IEKS algorithm requires an initialized state value and covariance. In the entire spatial registration algorithm process, filtering, smoothing, and EM solution are performed in sequence, and the smoothing value of the previous round is needed in the filtering process. In actual situations, the state of the target cannot be obtained directly through measurement, because the ...

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Abstract

The invention provides a spatial multisource distance measuring sensor registering method based on expectation maximization. The spatial multisource distance measuring sensor registering method based on the expectation maximization comprises the following steps: for problems during target location by utilizing a multisource distance measuring sensor, constructing a likelihood function by virtue of a state equation of a target and a measurement equation to obtain the expectation value of the likelihood function, and maximizing the expectation value so as to obtain an implied system deviation parameter estimate value, wherein a sliding window expectation maximization algorithm can be used under the condition of realizing instantaneity, small data storage space and low time consumption. Simulation results show that the spatial multisource distance measuring sensor registering method based on the expectation maximization has the advantages of high noise resistance, less required data and high stability and accuracy.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, and relates to a positioning method under the condition that multiple sensors only have ranging information, in particular to a space registration method for multi-source ranging sensors based on an Expectation Maximization (EM) algorithm. Background technique [0002] Multi-sensor spatial registration is mainly to eliminate the systematic bias of the sensors. At present, the methods for spatial registration mainly include sequential processing methods and batch processing methods. Sequential processing methods are mainly real-time estimation methods based on extended Kalman filtering and tasteless filtering, and the calculation amount is relatively small. Batch registration methods mainly include least squares method, generalized least squares method, maximum likelihood method and exact maximum likelihood method. This type of algorithm requires centralized processing of data ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20G01C25/00
Inventor 元向辉周学平
Owner XI AN JIAOTONG UNIV
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