Three-Dimensional Cooperative Localization Based on Active Radar/Infrared at Different Sites

Multi-source perception fusion positioning technology based on heterogeneous sensors is a key research area in the field of target positioning. The heterogeneous sensor positioning system composed of radar and infrared has a wide range of applications. However, existing works mostly use radar measurement to expand the dimension of infrared data to locate target, which will introduce the large angle measurement error of radar into infrared. In this paper, we propose a radar/infrared linear weighted least-squares (WLS) localization algorithm based on target motion model. First, we build linear equations of target position relative to radar and infrared based on the space relationship, respectively. In this manner, the position of target can be solved through a linear optimization problem. Two kinds of equations are combined by deformation and solved by WLS algorithm to achieve the target localization. Simulation results show that the proposed method has better target localization performance than that of single radar, and with the improvement of the measurement accuracy of radar/infrared sensors, the localization effect is better.