对空基多运动平台有源传感器进行配准，是空战协同作战的前提和基础。首先构建了 WGS-84坐标系下有偏观测模型，然后将最大似然配准（MLR）算法扩展到 WGS-84坐标系下空基多运动平台有源传感器的配准。运用复合函数求导链式法则，推导出应用 MLR 算法时至为关键的传感器观测量对目标状态的雅克比矩阵。理论和仿真结果表明，该方法可实现系统配准，配准误差逼近其 Cramer-Rao 下界。%It is the precondition of coordinated air combat to register the active sensors onboard multiple moving airborne platforms.Firstly,a biased measurement model based on WGS -84 (world geodetic system-84) coordinate system is constructed,and then the Maximum Likelihood Registration (MLR) algorithm is extended to active sensor registration on multiple moving airborne platforms in WGS -84.By using the chain rule for composite function derivation,the Jacobian matrix of sensor measurements with respect to target states is derived,which is critical for MLR application.Theoretic analysis and simulation results show that the method can realize sensor registration with the registration error approaching the Cramer -Rao Lower Bound(CRLB).
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