基于转换量测容积卡尔曼滤波器带多普勒量测的目标跟踪算法
作者:
作者单位:

(1. 中国科学院声学研究所中科院水下航行器信息技术重点实验室,北京100190;2. 中国科学院大学,北京100049;3. 中国科学院声学研究所北海研究站,山东青岛266114)

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通讯作者:

E-mail: maxc@mail.ioa.ac.cn.

中图分类号:

TN953

基金项目:

国家重点研发计划项目(2016YFC0301604).


Converted measurement cubature Kalman filter for Doppler-assisted target tracking
Author:
Affiliation:

(1. Key Laboratory of Information Technology for Autonomous Underwater Vehicles,Institute of Acoustics,Chinese Academy of Science,Beijing100190,China;2. University of Chinese Academy of Sciences,Beijing100049,China;3. Qingdao Branch of Institute of Acoustics,Chinese Academy of Sciences,Qingdao266114,China)

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    摘要:

    针对带多普勒量测的目标跟踪问题,提出一种基于转换量测容积卡尔曼滤波器的序贯滤波目标跟踪算法.对具有量测误差相关性的距离和多普勒量测进行解相关处理,构造出新的解相关量测方程,进而基于贝叶斯方法提出带多普勒量测的序贯处理算法的统一理论框架,实现对位置量测和多普勒量测的序贯滤波.在该理论框架下,提出基于转换量测容积卡尔曼滤波器的序贯滤波目标跟踪算法.该算法先采用转换量测容积卡尔曼滤波器和位置量测对目标状态进行估计,再利用经典容积卡尔曼滤波器对新构造的伪多普勒量测进行量测更新以实现目标跟踪.通过对所提算法的性能分析验证该算法的一致性和收敛性.仿真结果表明,该算法与其他跟踪算法相比,具有更高的跟踪精度.

    Abstract:

    This paper proposes a sequential filtering target tracking algorithm based on the converted measurement cubature Kalman filter to solve the problem of Doppler-assisted target tracking. Firstly, a new measurement function is reconstructed by decorrelating the range measurement error with Doppler measurement error. Then, based on the Bayesian method, the unified theoretical framework of the sequential processing algorithm with Doppler measurement is proposed, and the sequential filtering of range measurement and Doppler measurement is realized. Under this framework, the new sequential filtering target tracking algorithm based on the converted measurement cubature Kalman filter is proposed. In this algorithm, the target state is estimated by the converted cubature Kalman filter and position measurement, and then the final state estimation is a combination of pseudo-Doppler measurement estimation and the measurement update of classical cubature Kalman filter. By analyzing the performance of the proposed algorithm, it is proved that the algorithm has good consistency and convergency. Simulation results show that this algorithm has higher tracking accuracy than other tracking algorithms.

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李可非,马晓川,刘宇,等.基于转换量测容积卡尔曼滤波器带多普勒量测的目标跟踪算法[J].控制与决策,2021,36(6):1425-1434

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  • 在线发布日期: 2021-05-10
  • 出版日期: 2021-06-20