多传感器异步融合中的时间配准算法研究.docVIP

多传感器异步融合中的时间配准算法研究 摘要多传感器信息融合系统中，由于各传感器采样周期或开机时刻不同，造成了测量数据时间不匹配的问题。时间配准是多传感器系统中信息数据融合的前提条件之一。本论文首先介绍时间配准的经典方法：内插外推法、最小二乘虚拟法、拉格朗日插值法的基本原理，然后利用 进行仿真，分析了各种方法的适用范围和优缺点。内插外推法和最小二乘虚拟法仅适用于目标做匀速直线运动的最简单情况。拉格朗日插值法适用于目标做匀速直线运动和匀加速直线运动的情况。最小二乘虚拟法配准效果较好，计算简便，但约束条件较多，不利于实际工程中应用。内插外推法的配准误差较大，但由于其应用限制少、计算简便，因此更加利于工程实现。拉格朗日插值法配准公式复杂，计算量大，但适用范围更广。通过本文的分析比较，可为工程实现提供有益的参考。9018 关键词信息融合时间配准内插外推法最小二乘虚拟法拉格朗日插值法 毕业设计说明书（论文）外文摘要 TitleStudy on Time Registration Algorithm for Multi-sensor Asynchronous Fusion Abstract For the nonidentity of sampling periods and start-up time, time registration technology is one of the prerequisites for asynchronous fusion in the multi-sensor information fusion system. First we introduced the classical approaches for time registration: Interpolation method, Least Squares method and Lagrange interpolation method. Then we used MATLAB to analyze the scope and the advantages and disadvantages above the classical methods. Interpolation method and Least Squares method can only applicable to uniform linear motional objects. Lagrange interpolation method is not only suitable for uniform linear motional objects but uniformly accelerated rectilinear motional objects. By contrast, the registration error of Least Squares method is smaller, and it has less calculation. But the method restricts more and is not conducive to practical engineering applications. Interpolation method, however, has much bigger registration error but with fewer restrictions and simpler calculation. So it is better applied in engineering projects. Lagrange interpolation method applies more broadly with the formula more complex and calculation more complicated. Through the analysis of classical methods of time registration in this paper, we can provide a useful reference for engineering realization. 时间配准是多传感器信息融合技术中需要解决的关键问题。在实际的多传感器系统中，由于各传感器工作任务和传感器本身性能的不同以及所处环境的差异，即使是对同一目标进行观测，不同传感器的观测数据也不一定同步。这些测量数据不能反映目标同一时刻的运动状态，因此测量数据不能直接进行融合，需要将不同传感器在不同时刻获得的目标观测数据转换到统一的融合时刻，这样才可能计算出目标的正确状态，即在时间上进行配准。