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This paper provides the exact solution for the bias estimation problem in multiple asynchronous sensors using common targets of opportunity. The target data reported by the sensors are usually not time-coincident or synchronous due to the different data rates. Since the bias estimation requires time-coincident target data from different sensors, a novel scheme is used to transform the measurements from the different times of the sensors into pseudomeasurements of the sensor biases with additivedoi:10.1109/taes.2005.1541438 fatcat:m4kpvl6zzrebbi75plu3jrlbu4