A real-time registration algorithm for multi-sensor

For the systematic registration errors of multi-sensor, a registration model for space biases is given and a registration algorithm based on iterated extend Kalman filter( IEKF) is presented. By incorporating target states and systematic registration errors into one state equation, the dynamic equation of the augmented state equation is constructed. Then a registration algorithm based on IEKF is proposed to estimate target states and systematic registration errors simultaneously. To compare it with EKF and UKF, the result shows the proposed method has the same or even better accuracy to UKF and the similarity computation with EKF.