Unified Registration Model for Both Stationary and Mobile 3D Radar Alignment.

For mobile radar, offset biases and attitude biases influence radar measurements simultaneously. Attitude biases generated fromthe errors of the inertial navigation system (INS) of the platform can be converted into equivalent radar measurement errors by three analytical expressions (range, azimuth, and elevation, resp.).These expressions are unique and embody the dependences between the offset and attitude biases. The dependences indicate that all the attitude biases can be viewed as and merged into some kind of offset biases. Based on this, a unified registrationmodel (URM) is proposed which only contains radar "offset biases" in the formof system variables in the registration equations, where, in fact, the "offset biases" contain the influences of the attitude biases. URM has the same formas the registrationmodel of stationary radar network where no attitude biases exist. URM can compensate radar offset and attitude biases simultaneously and has minor computation burden compared with other registration models for mobile radar network. [ABSTRACT FROM AUTHOR]