基于距离和信息的单目标精确跟踪

对仅有“距离和”测量信息的多传感器系统提出了一种对量测方程预处理的快速卡尔曼跟踪算法．该卡尔曼跟踪算法通过对量测方程预处理得到目标位置与“距离和”测量量成线性关系的观测方程；状态变量只选目标的空间坐标，而速度矢量仅作为确定性输入量加入状态方程，速度矢量通过引入速度“伪测量值”滤波得到．并同以前的跟踪算法仿真比较表明，该方法计算量小，收敛速度快，精度高，具有一定的实用价值．

High-precision Single Target Tracking Based on Range Sum Measurement

A fast kalman filtering algorithm based on range sum measurement with a multisensor system is presented for precisely locating a target and measuring its velocity by preprocessing measurement data.This method transforms its measment equation to linear relationship between target coordinate and range sum measurement.The state vector only includes target coordinates,and the velocity vector is in the state equation only as a certainty input factor.Fake velocity measurement is presented for precisely measuring its velocity.Computer simulation results show the good performance of the fast Kalman filter as compared with the reported algorithm.