基于衰减记忆滤波的平方根UKF被动目标跟踪算法

Square-Root UKF Passive Target Tracking Algorithm Based on Memory Attenuation Filtering

针对被动目标跟踪的非线性和弱可观性的特点,并结合导致滤波器发散的两大因素,即模型误差和计算误差,提出了一种基于衰减记忆滤波的平方根UKF算法,利用衰减记忆滤波和平方根滤波来分别克服模型误差和计算误差引起的滤波发散,增强了系统的稳定性并提高了跟踪精度。仿真结果表明,该算法确实提高了滤波的稳定性,其跟踪精度优于扩展卡尔曼滤波EKF算法和无迹卡尔曼滤波UKF算法,收到了良好的效果。

Taking account of the features of nonlineare and weak observability of the underwater passive target tracking problem,and combining with the two factors known as model error and calculation error which leads to divergence of filters,a kind of square-root UKF algorithm based on memory attenuation filtering is proposed.In the proposed algorithm,the memory attenuation filtering and square-root filtering are utilized to overcome the divergence caused by model error and calculation error.The algorithm has enhanced system stability and tracking accuracy.Computer simulation results demonstrate that the MASRUKF has enhanced the stability of the filtering,and has better tracking accuracy than EKF and UKF algorithm.It has received good results and has high practical value.