基于Kalman滤波的目标轨迹预测

Target-track prediction based on Kalman Filtering

Kalman滤波器在各个领域都有广泛的应用,如航天器的轨道计算、雷达目标跟踪、生产过程的自动控制等.卡尔曼滤波器在机动目标跟踪中具有良好的性能,它是一种最佳估计并能够进行递推计算.但以Kalman滤波方法预测的过程需要对目标的运动方程有准确了解而且要求系统的过程与测量噪声为高斯噪声且相互独立,这在实时跟踪过程中都是很难满足的.本文利用基于Matlab编程的Kalman滤波改进算法实现目标预测跟踪,并绘出目标质心轨迹坐标.

Kalman Filtering has many different applications in many fields, such as orbit calculation of spacecrafts, radar target tracking, automatic control in a producing process. Kalman Filter is widely used in that it gives good performance in tracking maneuvering target by optimal estimation and further reeursive calculation. However, there is a big difficulty in the real -time tracking process that the prediction process with Kalman Filtering requires exact records of the target＇ s motion equation and the inter - independence between the process and the measured noise which should be Gaussian noise. The thesis will improve the calculation of Kalman Filtering based on Matlab programming to achieve target - prediction tracking and a centroid track coordinate of the target will be given.