本文研究基于扩展 Kalm an滤波和多个空中移动平台的多传感器数据配准与目标跟踪问题 .文中首先给出了空中移动平台传感器数据配准几何坐标转换算法 ;接着将目标运动模型和传感器配准误差模型组合在同一个状态方程中 ,然后利用扩展 Kalman滤波方程进行估计 .Monte- Carlo仿真表明 ,该方法能同时有效地估计目标运动状态和传感器配准误差 This paper studies the problem of multi-sensor data registration and target tracking based on extended Kalman filter and multiple air mobile platforms.At first, the algorithm of geometric coordinate conversion for airborne mobile sensor data registration is presented, and then the target motion model and sensor registration The error models are combined in the same equation of state and then estimated using an extended Kalman filter equation. Monte Carlo simulation shows that this method can effectively estimate both the target motion and the sensor registration error