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To satisfy performance of time registration, some of multi-sensor registration algorithms are discussed and a least square fitting method based on sliding window is proposed. The polynomial curve is fitted in each sliding window of registration time around using least square. And then, the value of registration time is calculated in this curve to implement aligning the sensor data in time. Compared with the existing algorithms, it is suitable for application in real-time processing because of the adaptability, high precision and easy to realize. At last, simulation results are provided to verify the accuracy and effectiveness of the proposed algorithm.