基于扩展卡尔曼滤波的机动目标航迹跟踪

Maneuvering Target Tracking based on Extended Kalman Filter

针对高速飞行目标航迹跟踪问题,进行了扩展卡尔曼滤波的曲线拟和仿真试验研究。首先建立目标跟踪的数学模型,确定了系统对应的参数及状态方程,进而将线性卡尔曼滤波器进行扩展,将函数形式的滤波模型在函数自变量估计值附近进行泰勒级数展开,求导获得相应雅克比矩阵,在获得观测及系统误差的基础上,得到针对此问题的扩展卡尔曼滤波方程。仿真结果表明该方法的有效性。

The curve fitting and simulation research of extended Kalman filter aiming at the problem of high-speed flight target tracking is studied. Mathematical model of target tracking, the parameter and state equation of system are established thus linear Kalman filter is extended, filter model is expanded in form of Taylor series near the estimated value of independent variable of function and the Jacques matrix is attained by derivation. The function of extended Kalman filter about this problem is acquired based on obtained observation and system systematic errors. The simulation results illustrate its effectiveness.