基于Kalman的滤波目标精确跟踪技术研究

Kalman Filter Algorithm and Its Application in Accurate Target Tracing System

阐述了基本kalman滤波方法,讨论了针对非线性系统应用的kalman滤波方法的改进形式EKF、UKF。为了增进UKF运算效能,提出了引入衰减系数的滤波形式DCUKF。针对二维平面非匀速运动的目标的精确跟踪定位系统,仿真对比分析了EKF、UKF及DCUKF的滤波计算效果。结果表明DCUKF有更好的滤波效果。

In this paper, the basic principles of Kalman Filter algorithm are studied. UKF （Unscented Kalman Filter） and EKF（Extended Kalman filter）,the improved algorithms of Ka]man Filter for nonlinear system are discussed. In order to improve the computing efficiency of UKF, a new algorithm named DCUKF（Decay Coefficient Unscented Kalman Filter） is proposed by in troduction of a decay coefficient. The simulations on accurate target tracing model of non-uniform velocity in two-dimensional plane show that DCUKF could achieve better precision and robustness.