运动参数受限的目标跟踪算法研究

提出一种运动参数受限的目标跟踪算法,对于速度受限目标采用平滑修正滤波跟踪算法,首先使用Kalman滤波得到当前时刻的滤波值,找到平滑精度最高点,根据速度限制条件,对滤波结果进行修正。为了保证滤波的无偏有效性,修正计算得到的结果不参与后续滤波处理。通过理论分析和仿真表明,速度受限跟踪算法在观测误差相对较大以及滤波起始阶段可以使滤波跟踪效果获得较大的改善。

Kinematic Constraint Target Tracking Algorithm

A kinematic constraint target tracking algorithm was proposed. Smoothing-modified tracking algorithm was adopted for the kinematic constraint target. Firstly, real-time filtered value was obtained by Kalman filter, and then the most accurate value of smoothing was got and other filtered values were modified by kinematic constaint condition and the most accurate value. The filter consistency and efficiency could be guaranteed because the modified value was not used in the following process. Analysis and simulation were employed to evaluate the performance of new algorithm.