A spatial alignment algorithm for time varying biases of radar and infrared sensors

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A track iteration UKF based alignment algorithm for the estimation of a slowly time-varying spatial bias is presented. First, the spatial bias is estimated with a UKF filter. Second, the spatial alignment iteration is applied track to track according to the magnitude of the bias change. If the bias change is obvious, the alignment restarts and initials the system bias with the estimated bias from the past track. Otherwise, the bias is assumed not changed and no alignment will be executed. Last, repeat the above process to adapt to the change of spatial bias with more other tracks. Simulation results show that the proposed algorithm is effective and efficient.