Removal of attitude errors based on multi-target multi-sensor environment in earth-centered earth-fixed coordinates

This paper describes a sensor registration methodology to estimate attitude biases in a multi-target multi-sensor environment. First, the available pairwise sensor alignment algorithm in Earth-Centered Earth-Fixed (ECEF) coordinates is introduced. However, for the multi-target multi-sensor environment, this method will result in non-unique alignment solutions, which is undesirable for many applications. Thus, we used expanded-dimension idea to establish a multi-target multi-sensor model for eliminating attitude errors. Simulation results reveal that this algorithm can reduce the convergence time and improve the precision of alignment solution compared to pairwise sensor registration methodology.