光电跟踪的部分状态卡尔曼滤波算法研究

Study on Reduced State Kalman Filtering Method for Electro-Optical Tracking

为得到光电跟踪目标的最小方差意义下的最优状态估计,提出将部分状态卡尔曼滤波和非线性系统的一阶线性化思想相结合,构成一种适用于光电跟踪目标的非线性卡尔曼滤波算法。同时将此方法应用到非线性测量光电跟踪系统中,并与扩展卡尔曼滤波和U卡尔曼滤波进行性能对比。仿真实验结果证明将部分状态卡尔曼滤波和非线性系统的一阶线性化思想相结合是有效可行的,而且其性能明显优于扩展卡尔曼滤波和U卡尔曼滤波。

In order to obtain the optimal state estimation of minimum variance for electro-optical tracking, a nonlinear Kalman filter algorithm applicable to electro-optical tracking is put forward, which is formed by combining the reduced state Kalman filter with the idea of the first-order linearization of nonlinear system. The method is applied in nonlinear measurement electro-optical tracking system, and its performance is compared with that of the extended Kalrnan filter and unscented Kalman filter. The Matlab simulation results show that the method combining reduced state Kalman filter and the first-order linearization of nonlinear system is feasible and effective, and it outperforms the extended Kalman filter and unscented Kalman filter.