Exact Multisensor Dynamic Bias Estimation with Local Tracks

This paper provides the exact solution of multiple sensor bias estimation problem based on local tracks. It is shown that the bias estimate can be obtained dynamically using the outputs of the local (biased) state estimators. This is accomplished by manipulating the local state estimates such that they yield pseudomeasurements of the sensor biases with additive noises that are zero-mean, white and with easily calculated covariances. These …