An incline alignment algorithm for vehicle-borne sensor system

Aiming at the problem of incline alignment for vehicle-borne sensor system, a UKF-LM based incline alignment algorithm is presented. Two Unscented Kalman Filters (UKF) are used to estimate a calibration target´s position in both sensor coordinate system and vehicle base-coordinate system, respectively. The nonlinear least-squares Levenberg-Marquardt (LM) algorithm is applied to estimate the incline angle and the incline vector between the two coordinate systems by the filtered target positions. Simulation results show that the proposed algorithm is effective and efficient.