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5 Nodestar似然函数 在这一节中我们描述在Nodestar的Spotlight方案中应用的似然函数。5.1 方位似然 Nodestar采用下列方法计算带时间相关测量误差的方位观测的似然函数。5.1.1 方位观测的误差模型 令θ_n和θ_(n-1)分别是t_n和t_(n-1)时刻来自传感器的两个方位观测值。令B_n和B_(n-1)是t_n和t_(n-1)时刻目标的实际方位(见图5)。注意:方位是以球面坐标计算的。令
5 Nodestar Likelihood Functions In this section we describe the likelihood functions applied in Nodestar’s Spotlight solution. 5.1 Azimuth Likelihood Nodestar uses the following method to calculate the likelihood function of azimuth observations with time-dependent measurement errors. 5.1.1 The error model of azimuth observation Let θ_n and θ_ (n-1) be the two azimuth observations from the sensor at t_n and t_ (n-1) respectively. Let B_n and B_ (n-1) be the actual azimuths of the target at t_n and t_ (n-1) moments (see Figure 5). Note: Azimuth is calculated in spherical coordinates. make