UPF算法及其在目标跟踪中的应用

Unscented Particle Filter Algorithm and Its Application to Target Tracking

分析了基于贝叶斯理论的粒子滤波算法的优缺点,研究了一种改进的粒子滤波(PF)算法UPF。将两种算法在目标跟踪中的性能进行了比较。仿真结果表明,改进算法 UPF定位精度更高,抗噪声能力更强,实时性更好。

The advantage and disadvantage of the Particle Filter(PF) algorithm are analyzed, and an improved PF algorithm is discussed in this paper. The comparison of two algorithms performance in target tracking is presented and the simulation results are also given. From these results we can see that the Unscented Particle Filter(UPF) is not only more accurate in location and more strong in noise resist but also better in terms of real-time.