The multi-sensor registration algorithm presently used the FAA has some limitations which can be mproved by a more formal use of Least Squares techniques. ARCON has designed an algorithm which solves the registration problem for many sensors simultaneously. The algorithm also incorporates mechanicsms which allow for noisy or ill-conditioned data. A prototype implementation of this design has been developed and tested using recorded real data. Results of this testing are discussed. Finally, some further challenges to multi-sensor registration are mentioned, toether with suggestions on how the ARCON algorithm can be modified to meet these challengs.
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