Mobile sensor registration in ECEF coordinates using the MLR algorithm

A new algorithm is presented to align multiple 3-D mobile sensors in the Earth-Centred-Earth-Fixed coordinate system, which is called MLMR algorithm for short. The MLMR algorithm can effectively estimate sensor biases, sensor frame orientation and target state. For illustrative purposes, the MLMR algorithm is applied to simulated track data from two 3-D sensors.