Precision analysis of the maritime multi-sensor data alignment based on relative bearing and rang

To solve data alignment problem of multi-platform multi-sensor on the sea, a multi-sensor data alignment method based on relative bearing and range is proposed. Using the measurements of relative bearing and range among the maritime platforms, the targets' positions measured are transformed in the sensor relative bearing cordinates of a platform, and the sensor alignment is achieved. The method above can be implemented by means of two coordinate transformation approachs. The alignment mechanisms and mathematical models of both approachs are discussed. Through several simulation scenarios, the precision of two transformation approachs are analysed and campared. Simulation results are employed to decide two approachs' applicable environment according to the precision requirements of establishing the fire-control-level situation.