To estimate systemic errors of multi-sensors in real-time

the registration algorithm based on recursive least squares（RLS） for multi-sensors is presented

concerning for the generalized least-squares estimation（GLS） algorithm being not used for estimating sensors error in real-time.The RLS is employed for estimating systematic error in this algorithm

based on the GLS registration model

and the errors are estimated in real-time while the previously measured data didn’t need to be stored.By simulations it shows that the algorithm is effective.