It utilizes extended Kalman filtering to carry out heterogeneous sensor fusion. 采用扩展卡尔曼滤波实现异质传感器融合。
For the nonstandard multi-sensor fusion system with observation system error, an effective observation system error parameters estimation model is established. 针对存在量测系统误差的非标准多传感器融合系统，构建了一种有效的系统误差参数估计模型。
