Abstract
To obtain the absolute position of a target is one of the basic topics for non-cooperated target tracking problems. In this paper, we present a simultaneously calibration method for an Inertial navigation system (INS)/Global position system (GPS)/Laser distance scanner (LDS) integrated system based target positioning approach. The INS/GPS integrated system provides the attitude and position of observer, and LDS offers the distance between the observer and the target. The two most significant errors are taken into jointly consideration and analyzed: (1) the attitude measure error of INS/GPS; (2) the installation error between INS/GPS and LDS subsystems. Consequently, a INS/GPS/LDS based target positioning approach considering these two errors is proposed. In order to improve the performance of this approach, a novel calibration method is designed to simultaneously estimate and compensate these two main errors. Finally, simulations are conducted to access the performance of the proposed target positioning approach and the designed simultaneously calibration method.
Highlights
To measure the three-dimensional (3D) position of a target in motion is one of the basic problems of target tracking
The vector oCm can be expressed as oCm = Cm where, Cm b = (Cm ). It can be seen from Equation (11) that the rotation described by the attitude measured by Inertial navigation system (INS)/GPS can be a vector rotated by oCm, which could indicate the actual target position impacted by the misalignment angles or installation error
We present a simultaneously calibration approach for an INS/GPS/LDS Target Tracker to compensate the installation and attitude Errors
Summary
To measure the three-dimensional (3D) position of a target in motion is one of the basic problems of target tracking. We will briefly review the sensors commonly used for measuring the position of a target. An Inertial navigation system (INS)/Global position system (GPS)/Laser distance scanner (LDS) integrated system based target positioning approach is introduced
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