CN106658921A - Lamp control switch system - Google Patents

Abstract

The invention relates to a lamp control switch system comprising a light intensity sensor used for detecting external light intensity; a pickup used for collecting external sound; an acousto-optic controller in wired connection with the light intensity and the pickup separately and used for analyzing and processing the received signals; a singlechip in wired connection with the acousto-optic controller, an image sensor and an infrared sensor separately and used for analyzing and processing the received data; a time relay in wired connection with the singlechip and used for delaying the light irradiation time; a circuit controller in wired connection with the singlechip and used for controlling a light switch; and an external device in wired connection with the singlechip through a GPRS wireless network and used for performing remote control. The lamp control switch system is diversified in detection modes, high n safety performance and is high in automation and intelligence degrees, can be used for performing manual control by means of operation display screens onsite on one hand, and can be controlled by the external device on the other hand, thereby being conducive to promotion and use.

Description

A kind of lamp control switch system

Technical field

The invention belongs to technical field of electric control, more particularly to a kind of lamp control switch system.

Background technology

Smart home is lasting study hotspot, and wherein intelligent lamp controller is most widely used most common equipment.Now Lamp controller in smart home installs multiple control panels due to needing in multiple different rooms, virtually increased line Road installation cost, and be unfavorable for controlling the switch of all light fixtures, operation inconvenience by control panel.

On the other hand the light fixture control aspect in building generally require by acoustic control and it is light-operated be controlled, but of short duration Time in light fixture may turn off, cause people to need frequently to send sound to open light fixture, be unfavorable for promoting and use.

The content of the invention

The present invention may cause to cause lamp switch because detection mode is single to solve existing light fixture control mode Postpone or lamp switch failure, on the other hand need to install multiple control panels increases cost to control the switch of light fixture Technical problem and a kind of lamp control switch system is provided.

The present invention is adopted the technical scheme that to solve technical problem present in known technology：

The lamp control switch system that the present invention is provided, the lamp control switch system includes：

For the light intensity sensor that intensity of illumination to external world is detected；

For the sound pick-up that sound to external world is acquired；

Respectively with light intensity sensor and sound pick-up wired connection, for the acousto-optic that the signal for receiving is analyzed and is processed Controller；The sound-optical controller is to frequency-hopping mixing signal time-frequency domain matrixCarry out pre- Process, specifically include following two step：

The first step is rightCarry out low energy to pre-process, i.e., in each sampling instant P, willValue of the amplitude less than thresholding ε sets to 0, and obtainsDoor The setting of limit ε can determine according to the average energy for receiving signal；

Second step, finds out the time-frequency numeric field data of p moment (p=0,1,2 ... P-1) non-zero, usesRepresent, whereinRepresent the response of p moment time-frequency Corresponding frequency indices when non-zero, to these non-zero normalization pretreatments, obtain pretreated vectorial b (p, q)=[b₁ (p,q),b₂(p,q),…,b_M(p,q)]^T, wherein：

For the camera for shooting extraneous picture He be monitored；

With camera wired connection, for picture signal to be converted into the imageing sensor of electric signal；

For detecting the infrared ray sensor of someone nearby whether；

Respectively with sound-optical controller, imageing sensor and infrared ray sensor wired connection, for entering to the data for receiving Row analysis and the single-chip microcomputer for processing；The single-chip microcomputer splices to the time-frequency domain frequency hopping source signal between different frequency hopping points, tool Body step is as follows：

The first step, estimates that l is jumped correspondingIndividual incident angle, usesRepresent l jump n-th source signal it is corresponding enter Firing angle degree,Computing formula it is as follows：

Represent that l jumps n-th hybrid matrix column vector for estimating to obtainM-th element, c represents the light velocity, That is v_c=3 × 10⁸Meter per second；

Second step, judges that l (l=2,3 ...) jumps the source signal estimated and jumps corresponding between the source signal estimated with first Relation, judgment formula is as follows：

Wherein m_n ^(l)Represent that l jumps the m for estimating_n ^(l)Individual signal and first n-th signal for jumping estimation belong to same source Signal；

3rd step, by different frequency hopping point estimation to the signal for belonging to same source signal be stitched together, as final Time-frequency domain source signal estimate, use Y_n(p, q) represents time-frequency domain estimate of n-th source signal in time frequency point (p, q), p= 0,1,2 ...., P, q=0,1,2 ..., N_fft- 1, i.e.,

With single-chip microcomputer wired connection, for postponing the time relay of light-illuminating time；

With single-chip microcomputer wired connection, for controlling the circuit controller of headlamp switch；The circuit controller receives signal Signal model be expressed as：

Wherein x_iT () i=1,2 ... p are the component signals that time-frequency is overlapped, p is the number of component signal, and t is the time；It is N additive white Gaussian noises for variance；For component signal x_iThe amplitude of (t)；c_ikFor modulated signal；h_i(t)(i =1 ..., N) it is the raised cosine shaping filter function of rolloff-factor α, andT_siFor each The chip rate of component signal；f_ciFor the carrier frequency of each component signal, and w_i=2 π f_ci；J is the representation of imaginary number, and completely Sufficient j²=-1；It is separate between each component signal and between component signal and noise.

Wirelessly it is connected by GPRS wireless networks with single-chip microcomputer, for carrying out the external equipment of remotely control；

The power module and single-chip microcomputer wired connection, for providing power supply；

The operating display and single-chip microcomputer wired connection, are controlled headlamp switch, specifically using multiple spot for scene The capacitive touch screen of touch-control；

The external equipment includes that computer, mobile phone have the electronic product of network connecting function.

Further, the method for the spatial registration of described image sensor and infrared ray sensor include time alignment process and Sensing system error estimation procedure, and pseudo- measurement equation to set up process only related to the position of target, and with the speed of target The states such as degree are unrelated；

Time alignment process completes the alignment between sensing data in time, imageing sensor A, infrared ray sensor Metric data under local rectangular coordinate system is respectively Y_A(t_i) and Y_B(t_i), and the sample frequency of imageing sensor A is more than red The sample frequency of outside line sensor, then carry out registration, specially from imageing sensor A to the sampling instant of infrared ray sensor：

Using interpolation extrapolate temporal registration algorithm by data from the sampled data of imageing sensor A to infrared ray sensor Registration is carried out so that two sensors have synchronous metric data to same target at the spatial registration moment, when interpolation is extrapolated Between registration Algorithm it is as follows：

Each sensor observation data are carried out into increment sequence by certainty of measurement in same timeslice, then by image sensing A series of observation data of device A time point interpolation, extrapolation respectively to infrared ray sensor, to form equally spaced target observations Data, imageing sensor A is obtained in t using the interpolation extrapolation temporal registration algorithm that carries out of 3 conventional parabolic interpolations_BkWhen The measuring value being engraved under local rectangular coordinate systemFor：

Wherein, t_BkFor registering moment, t_k-1,t_k,t_k+1For during three nearest samplings of imageing sensor A distances registering moment Carve, Y_A(t_k-1),Y_A(t_k),Y_A(t_k+1) it is respectively its corresponding detection data to target；

After deadline registration, according to registration data and the sampled data of infrared ray sensor of imageing sensor A, adopt Imageing sensor A is realized based on the pseudo- measurement method under solid (Earth Center Earth Fixed, the ECEF) coordinate system of ground heart With the estimation of the systematic error of infrared ray sensor；It is specially based on the systematic error estimation algorithm of ECEF：

Assume that k moment target actual position under local rectangular coordinate system is X'₁(k)=[x'₁(k),y'₁(k),z'₁ (k)]^T, corresponding measuring value is under polar coordinate systemRespectively distance, azimuth, the angle of pitch；Change to It is X under local rectangular coordinate system₁(k)=[x₁(k),y₁(k),z₁(k)]^T；Sensing system deviation isRespectively distance, the systematic error of azimuth and the angle of pitch；Then have

WhereinObservation noise is represented, average is that zero, variance is

Formula (1) can be launched with first approximation and be write as matrix form：

X'₁(k)=X₁(k)+C(k)[ξ(k)+n(k)]\*MERGEFORMAT (3)

Wherein,

If two-sector model is as sensors A and B, then for same public target (is set under ECEF coordinate system as X'_e= [x'_e,y'_e,z'_e]^T), can obtain

X'_e=X_As+B_AX'_A1(k)=X_Bs+B_BX'_B1(k)\*MERGEFORMAT (4)

B_A, B_BRespectively position of the target under imageing sensor A and infrared ray sensor local coordinate system is transformed into ECEF and sits Mark the transition matrix during position under system；

Definition puppet measures and is：

Z (k)=X_Ae(k)-X_Be(k)\*MERGEFORMAT (5)

Wherein, X_Ae(k)=X_As+B_AX_A1(k)；X_Be(k)=X_Bs+B_BX_B1(k)

Formula (2), formula (3) substitution formula (4) can be obtained the pseudo-measurement with regard to sensor bias

Z (k)=H (k) β (k)+W (k) * MERGEFORMAT (6)

Wherein,Z (k) is pseudo-measurement vector；H (k) is calculation matrix；β is Sensor bias vector；W (k) is measurement noise vector；Due to n_A(k),n_BK () is zero-mean, separate Gaussian is random Variable, therefore W (k) is equally zero-mean gaussian type stochastic variable, its covariance matrix is R (k).

The present invention has the advantages and positive effects that：The lamp control switch system detectio mode variation, security performance is high, Automation and intelligence degree are high, and the operating display at scene on the one hand can be utilized to be controlled manually, on the other hand can lead to Cross external equipment to be controlled, be conducive to promoting and use.

Description of the drawings

Fig. 1 is the theory diagram of lamp control switch system provided in an embodiment of the present invention；

In figure：1st, light intensity sensor；2nd, sound pick-up；3rd, sound-optical controller；4th, camera；5th, imageing sensor；6th, it is infrared Line sensor；7th, single-chip microcomputer；8th, the time relay；9th, circuit controller；10th, external equipment；11st, power module；12nd, operate aobvious Display screen.

Specific embodiment

For the content of the invention, feature and effect of the present invention can be further appreciated that, following examples are hereby enumerated, and coordinate accompanying drawing Describe in detail as follows.

The structure of the present invention is explained in detail with reference to Fig. 1.

The lamp control switch system includes：

For the light intensity sensor 1 that intensity of illumination to external world is detected；

For the sound pick-up 2 that sound to external world is acquired；

Respectively with light intensity sensor 1 and the wired connection of sound pick-up 2, for the sound that the signal for receiving is analyzed and is processed Optical controller 3；

For the camera 4 for shooting extraneous picture He be monitored；

With the wired connection of camera 4, for picture signal to be converted into the imageing sensor 5 of electric signal；

For detecting the infrared ray sensor 6 of someone nearby whether；

Respectively with sound-optical controller 3, imageing sensor 5 and the wired connection of infrared ray sensor 6, for the data for receiving The single-chip microcomputer 7 for being analyzed and processing；

With the wired connection of single-chip microcomputer 7, for postponing the time relay 8 of light-illuminating time；

With the wired connection of single-chip microcomputer 7, for controlling the circuit controller 9 of headlamp switch；

Wirelessly it is connected by GPRS wireless networks with single-chip microcomputer 7, for carrying out the external equipment 10 of remotely control.

Further, the power module 11 and the wired connection of single-chip microcomputer 7, for providing power supply.

Further, the operating display 12 and the wired connection of single-chip microcomputer 7, for scene headlamp switch is controlled, and is had Body adopts the capacitive touch screen of multi-point touch.

Further, the external equipment 10 includes the electronic products with network connecting function such as computer, mobile phone.

The sound-optical controller is to frequency-hopping mixing signal time-frequency domain matrixCarry out pre- Process, specifically include following two step：

The first step is rightCarry out low energy to pre-process, i.e., in each sampling instant P, willValue of the amplitude less than thresholding ε sets to 0, and obtains The setting of thresholding ε can determine according to the average energy for receiving signal；

Second step, finds out the time-frequency numeric field data of p moment (p=0,1,2 ... P-1) non-zero, usesRepresent, whereinRepresent the response of p moment time-frequency Corresponding frequency indices when non-zero, to these non-zero normalization pretreatments, obtain pretreated vectorial b (p, q)=[b₁ (p,q),b₂(p,q),…,b_M(p,q)]^T, wherein：

The single-chip microcomputer splices to the time-frequency domain frequency hopping source signal between different frequency hopping points, comprises the following steps that：

The first step, estimates that l is jumped correspondingIndividual incident angle, usesRepresent l jump n-th source signal it is corresponding enter Firing angle degree,Computing formula it is as follows：

Represent that l jumps n-th hybrid matrix column vector for estimating to obtainM-th element, c represents the light velocity, That is v_c=3 × 10⁸Meter per second；

Second step, judges that l (l=2,3 ...) jumps the source signal estimated and jumps corresponding between the source signal estimated with first Relation, judgment formula is as follows：

Wherein m_n ^(l)Represent that l jumps the m for estimating_n ^(l)Individual signal and first n-th signal for jumping estimation belong to same source Signal；

3rd step, by different frequency hopping point estimation to the signal for belonging to same source signal be stitched together, as final Time-frequency domain source signal estimate, use Y_n(p, q) represents time-frequency domain estimate of n-th source signal in time frequency point (p, q), p= 0,1,2 ...., P, q=0,1,2 ..., N_fft- 1, i.e.,

With single-chip microcomputer wired connection, for postponing the time relay of light-illuminating time；

With single-chip microcomputer wired connection, for controlling the circuit controller of headlamp switch；The circuit controller receives signal Signal model be expressed as：

Wherein x_iT () i=1,2 ... p are the component signals that time-frequency is overlapped, p is the number of component signal, and t is the time；It is N additive white Gaussian noises for variance；For component signal x_iThe amplitude of (t)；c_ikFor modulated signal；h_i(t)(i =1 ..., N) it is the raised cosine shaping filter function of rolloff-factor α, andT_siFor each The chip rate of component signal；f_ciFor the carrier frequency of each component signal, and w_i=2 π f_ci；J is the representation of imaginary number, and completely Sufficient j²=-1；It is separate between each component signal and between component signal and noise.

Further, the method for the spatial registration of described image sensor and infrared ray sensor include time alignment process and Sensing system error estimation procedure, and pseudo- measurement equation to set up process only related to the position of target, and with the speed of target The states such as degree are unrelated；

Time alignment process completes the alignment between sensing data in time, imageing sensor A, infrared ray sensor Metric data under local rectangular coordinate system is respectively Y_A(t_i) and Y_B(t_i), and the sample frequency of imageing sensor A is more than red The sample frequency of outside line sensor, then carry out registration, specially from imageing sensor A to the sampling instant of infrared ray sensor：

Using interpolation extrapolate temporal registration algorithm by data from the sampled data of imageing sensor A to infrared ray sensor Registration is carried out so that two sensors have synchronous metric data to same target at the spatial registration moment, when interpolation is extrapolated Between registration Algorithm it is as follows：

Each sensor observation data are carried out into increment sequence by certainty of measurement in same timeslice, then by image sensing A series of observation data of device A time point interpolation, extrapolation respectively to infrared ray sensor, to form equally spaced target observations Data, imageing sensor A is obtained in t using the interpolation extrapolation temporal registration algorithm that carries out of 3 conventional parabolic interpolations_BkWhen The measuring value being engraved under local rectangular coordinate systemFor：

Wherein, t_BkFor registering moment, t_k-1,t_k,t_k+1For during three nearest samplings of imageing sensor A distances registering moment Carve, Y_A(t_k-1),Y_A(t_k),Y_A(t_k+1) it is respectively its corresponding detection data to target；

After deadline registration, according to registration data and the sampled data of infrared ray sensor of imageing sensor A, adopt Imageing sensor A is realized based on the pseudo- measurement method under solid (Earth Center Earth Fixed, the ECEF) coordinate system of ground heart With the estimation of the systematic error of infrared ray sensor；It is specially based on the systematic error estimation algorithm of ECEF：

Assume that k moment target actual position under local rectangular coordinate system is X'₁(k)=[x'₁(k),y'₁(k),z'₁ (k)]^T, corresponding measuring value is under polar coordinate systemRespectively distance, azimuth, the angle of pitch；Change to It is X under local rectangular coordinate system₁(k)=[x₁(k),y₁(k),z₁(k)]^T；Sensing system deviation isRespectively distance, the systematic error of azimuth and the angle of pitch；Then have

WhereinObservation noise is represented, average is that zero, variance is

Formula (1) can be launched with first approximation and be write as matrix form：

X'₁(k)=X₁(k)+C(k)[ξ(k)+n(k)]\*MERGEFORMAT (3)

Wherein,

If two-sector model is as sensors A and B, then for same public target (is set under ECEF coordinate system as X'_e= [x'_e,y'_e,z'_e]^T), can obtain

X'_e=X_As+B_AX'_A1(k)=X_Bs+B_BX'_B1(k)\*MERGEFORMAT (4)

B_A, B_BRespectively position of the target under imageing sensor A and infrared ray sensor local coordinate system is transformed into ECEF and sits Mark the transition matrix during position under system；

Definition puppet measures and is：

Z (k)=X_Ae(k)-X_Be(k)\*MERGEFORMAT (5)

Wherein, X_Ae(k)=X_As+B_AX_A1(k)；X_Be(k)=X_Bs+B_BX_B1(k)

Formula (2), formula (3) substitution formula (4) can be obtained the pseudo-measurement with regard to sensor bias

Z (k)=H (k) β (k)+W (k) * MERGEFORMAT (6)

Wherein,Z (k) is pseudo-measurement vector；H (k) is calculation matrix；β is Sensor bias vector；W (k) is measurement noise vector；Due to n_A(k),n_BK () is zero-mean, separate Gaussian is random Variable, therefore W (k) is equally zero-mean gaussian type stochastic variable, its covariance matrix is R (k).

The structure of the present invention is further described with reference to operation principle.

Extraneous intensity of illumination is detected using light intensity sensor 1, the acoustic information of outside is gathered using sound pick-up 2, by sound Optical controller 3 is controlled, and when two conditions all meet setting value, single-chip microcomputer 7 controls the electricity of light fixture by circuit controller 9 Road closes, and on the other hand carries out captured in real-time to the picture of adjacent lamp by camera 4, by imageing sensor 5 by image Signal is converted into electric signal and is sent in single-chip microcomputer 7, by analyzing picture in whether someone controlling the switch of light fixture, utilize The time relay 8 is adjusting the irradiation time of light fixture, while adjacent lamp whether someone can be detected by infrared ray sensor 6, Increase the security performance of lamp switch and the convenience and accuracy of control, on the one hand user carries out existing by operating display 12 Field control, on the other hand can carry out remotely control, it is to avoid the dark period of light fixture, power module 11 provides electricity by external equipment 10 Source.

The above is only, to presently preferred embodiments of the present invention, any pro forma restriction not to be made to the present invention, Every technical spirit according to the present invention is belonged to any simple modification made for any of the above embodiments, equivalent variations and modification In the range of technical solution of the present invention.

Claims (2)

1. a kind of lamp control switch system, it is characterised in that the lamp control switch system includes：

For the light intensity sensor that intensity of illumination to external world is detected；

For the sound pick-up that sound to external world is acquired；

Respectively with light intensity sensor and sound pick-up wired connection, for the controlled by sound and light that the signal for receiving is analyzed and is processed Device；The sound-optical controller is to frequency-hopping mixing signal time-frequency domain matrixPre-processed, Specifically include following two step：

The first step is rightCarry out low energy to pre-process, i.e., in each sampling instant p, willValue of the amplitude less than thresholding ε sets to 0, and obtains The setting of thresholding ε can determine according to the average energy for receiving signal；

Second step, finds out the time-frequency numeric field data of p moment (p=0,1,2 ... P-1) non-zero, usesRepresent, whereinRepresent the response of p moment time-frequency Corresponding frequency indices when non-zero, to these non-zero normalization pretreatments, obtain pretreated vectorial b (p, q)=[b₁ (p,q),b₂(p,q),…,b_M(p,q)]^T, wherein：

For the camera for shooting extraneous picture He be monitored；

With camera wired connection, for picture signal to be converted into the imageing sensor of electric signal；

For detecting the infrared ray sensor of someone nearby whether；

Respectively with sound-optical controller, imageing sensor and infrared ray sensor wired connection, for carrying out point to the data for receiving Analysis and the single-chip microcomputer for processing；The single-chip microcomputer splices to the time-frequency domain frequency hopping source signal between different frequency hopping points, concrete step It is rapid as follows：

The first step, estimates that l is jumped correspondingIndividual incident angle, usesRepresent the corresponding incidence angle of l n-th source signal of jump Degree,Computing formula it is as follows：

${\widehat{\mathrm{\θ}}}_n\left(l\right)=\frac{1}{M-1}\underset{m=2}{\overset{M}{\mathrm{\Σ}}}{\sin }^{-1}\[\frac{angle\left({\hat{a}}_{n,m}\right(l)/{\hat{a}}_{n,m-1}(l\left)\right)*c}{2\mathrm{\π}{\hat{f}}_{c,n}\left(l\right)d}\],n=1,2,\mathrm{...},\hat{N}$

Represent that l jumps n-th hybrid matrix column vector for estimating to obtainM-th element, c represents the light velocity, i.e. v_c =3 × 10⁸Meter per second；

Second step, judges that l (l=2,3 ...) jumps the corresponding pass that the source signal estimated is jumped between the source signal estimated with first System, judgment formula is as follows：

${m_n}^{\left(l\right)}=\underset{m}{\mathrm{argmin}}\left|{\widehat{\mathrm{\θ}}}_m^{\left(l\right)}-{\widehat{\mathrm{\θ}}}_n^{\left(1\right)}\right|,n=1,2,...,\hat{N}$

Wherein m_n ^(l)Represent that l jumps the m for estimating_n ^(l)Individual signal and first n-th signal for jumping estimation belong to same source letter Number；

3rd step, by different frequency hopping point estimation to the signal for belonging to same source signal be stitched together, as it is final when The estimation of frequency domain source signal, uses Y_nTime-frequency domain estimate of n-th source signal of (p, q) expression in time frequency point (p, q), p=0,1, 2 ...., P, q=0,1,2 ..., N_fft- 1, i.e.,

With single-chip microcomputer wired connection, for postponing the time relay of light-illuminating time；

With single-chip microcomputer wired connection, for controlling the circuit controller of headlamp switch；The circuit controller receives the letter of signal Number model is expressed as：

$y\left(t\right)=\underset{i}{\mathrm{\Σ}}{x}_i\left(t\right)+n\left(t\right)=\underset{i}{\mathrm{\Σ}}\sqrt{S_i}{e}^{{\mathrm{j\θ}}_i}{e}^{{\mathrm{jw}}_{i}t}\underset{k}{\mathrm{\Σ}}{c}_{ik}{h}_i(t-{\mathrm{kTs}}_i)+\sqrt{N}w\left(t\right);$

Wherein x_iT () i=1,2 ... p are the component signals that time-frequency is overlapped, p is the number of component signal, and t is the time；For Variance is N additive white Gaussian noises；For component signal x_iThe amplitude of (t)；c_ikFor modulated signal；h_i(t) (i=1 ..., N) For the raised cosine shaping filter function of rolloff-factor α, andT_siFor each component signal Chip rate；f_ciFor the carrier frequency of each component signal, and w_i=2 π f_ci；J is the representation of imaginary number, and meets j²=-1； It is separate between each component signal and between component signal and noise；

Wirelessly it is connected by GPRS wireless networks with single-chip microcomputer, for carrying out the external equipment of remotely control；

The power module and single-chip microcomputer wired connection, for providing power supply；

The operating display and single-chip microcomputer wired connection, are controlled headlamp switch, specifically using multi-point touch for scene Capacitive touch screen；

The external equipment includes that computer, mobile phone have the electronic product of network connecting function.

2. lamp control switch system as claimed in claim 1, it is characterised in that described image sensor and infrared ray sensor The method of spatial registration includes time alignment process and sensing system error estimation procedure, and pseudo- measurement equation sets up process It is only related to the position of target, and it is unrelated with the speed state of target；

Time alignment process completes the alignment between sensing data in time, and imageing sensor A, infrared ray sensor are at this Metric data under ground rectangular coordinate system is respectively Y_A(t_i) and Y_B(t_i), and the sample frequency of imageing sensor A is more than infrared ray The sample frequency of sensor, then carry out registration, specially from imageing sensor A to the sampling instant of infrared ray sensor：

The temporal registration algorithm extrapolated using interpolation is carried out the sampled data of imageing sensor A to the data of infrared ray sensor Registration so that two sensors have synchronous metric data to same target at the spatial registration moment, the interpolation extrapolation time matches somebody with somebody Quasi- algorithm is as follows：

Each sensor observation data are carried out into increment sequence by certainty of measurement in same timeslice, then by imageing sensor A Observation data time point interpolation respectively to infrared ray sensor, extrapolation, to form a series of equally spaced target observation numbers According to, using 3 conventional parabolic interpolations carry out interpolation extrapolation temporal registration algorithm obtain imageing sensor A in t_BkMoment Measuring value under local rectangular coordinate systemFor：

Wherein, t_BkFor registering moment, t_k-1,t_k,t_k+1For three sampling instants that the imageing sensor A distances registering moment is nearest, Y_A (t_k-1),Y_A(t_k),Y_A(t_k+1) it is respectively its corresponding detection data to target；

After deadline registration, according to registration data and the sampled data of infrared ray sensor of imageing sensor A, adopt and be based on Pseudo- measurement method under solid (Earth Center Earth Fixed, the ECEF) coordinate system of ground heart realizes imageing sensor A and red The estimation of the systematic error of outside line sensor；It is specially based on the systematic error estimation algorithm of ECEF：

Assume that k moment target actual position under local rectangular coordinate system is X'₁(k)=[x'₁(k),y'₁(k),z'₁(k)]^T, pole Corresponding measuring value is under coordinate systemRespectively distance, azimuth, the angle of pitch；Change to locally directly It is X under angular coordinate system₁(k)=[x₁(k),y₁(k),z₁(k)]^T；Sensing system deviation isRespectively distance, the systematic error of azimuth and the angle of pitch；Then have

WhereinObservation noise is represented, average is that zero, variance is

Formula (1) can be launched with first approximation and be write as matrix form：

X'₁(k)=X₁(k)+C(k)[ξ(k)+n(k)]\*MERGEFORMAT (3)

Wherein,

If two-sector model is as sensors A and B, then for same public target (is set under ECEF coordinate system as X'_e=[x'_e, y'_e,z'_e]^T), can obtain

X'_e=X_As+B_AX'_A1(k)=X_Bs+B_BX'_B1(k)\*MERGEFORMAT (4)

B_A, B_BRespectively position of the target under imageing sensor A and infrared ray sensor local coordinate system is transformed into ECEF coordinate systems Under position when transition matrix；

Definition puppet measures and is：

Z (k)=X_Ae(k)-X_Be(k)\*MERGEFORMAT (5)

Wherein, X_Ae(k)=X_As+B_AX_A1(k)；X_Be(k)=X_Bs+B_BX_B1(k)

Formula (2), formula (3) substitution formula (4) can be obtained the pseudo-measurement with regard to sensor bias

Z (k)=H (k) β (k)+W (k) * MERGEFORMAT (6)

Wherein,Z (k) is pseudo-measurement vector；H (k) is calculation matrix；β is sensing Device bias vector；W (k) is measurement noise vector；Due to n_A(k),n_BK () is zero-mean, separate Gaussian becomes at random Amount, therefore W (k) is equally zero-mean gaussian type stochastic variable, its covariance matrix is R (k).