针对异步多传感器系统 ,研究一种能有效估计配准误差并消除其影响的算法 .提出用最小二乘法和卡尔曼滤波算法分别进行时间配准和估计失调误差和姿态误差 .仿真结果证实了算法的有效性 .采用最小二乘法可以将数据压缩“对齐”到任意时刻 ,采用卡尔曼滤波算法可以估计并消除配准误差的影响 ,这对多传感器的数据融合具有重要的意义 . Aiming at asynchronous multisensor system, an algorithm that can effectively estimate the registration error and eliminate its influence is proposed, and the least squares method and Kalman filter algorithm are proposed to perform time registration and estimate the offset error and attitude error respectively. The simulation results show that the algorithm The least squares method can be used to compress the data to “align” to any moment, the Kalman filter algorithm can estimate and eliminate the influence of registration error, which is of great significance to the data fusion of multisensor.