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Optical Engineering

Registration of mobile sensors using the parallelized extended Kalman filter
Author(s): Yifeng Zhou; Henry Leung; Eloi Bosse
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Paper Abstract

The problem of registration for multiple mobile sensors in a fusion system is considered. We develop a registration model for mobile sensors and implement the registration based on the nonlinear Kalman filter theory. A parallelized extended Kalman filter (EKF) structure is also derived in which the algorithm is parallelized and processed at each sensor. The parallelized EKF is shown to have the performance of a centralized system. It does not rely on a single central facility to perform and thus is less sensitive to sensor defects than the centralized system. Finally, computer simulations are used to show the effectiveness of the proposed registration algorithm.

Paper Details

Date Published: 1 March 1997
PDF: 9 pages
Opt. Eng. 36(3) doi: 10.1117/1.601275
Published in: Optical Engineering Volume 36, Issue 3
Show Author Affiliations
Yifeng Zhou, Dr. Henry Leung (Canada)
Henry Leung, Defence Research Establishment Ottawa (Canada)
Eloi Bosse, Defence Research Establishment Valcartier (Canada)

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