一种减小线性化误差的滤波跟踪算法

Reduce the error of a linear filter tracking algorithm

针对雷达目标跟踪数据滤波过程中,不同坐标系下测量数据处理引入量测误差的问题,提出通过估算非线性量测下扩展卡尔曼滤波算法的量测误差,再进行量测误差的有效修正,最后给出了1种减小线性化误差的滤波方程。通过对该滤波算法的仿真验证,该滤波算法增加了与距离有关的修正项,可实时对观测误差协方差矩阵进行计算,抵消了线性化误差的影响,可有效改进扩展卡尔曼滤波效果,并在很大程度上减小了雷达对目标的跟踪误差,提高了跟踪精度。

Radar target tracking data filtering process,the different coordinate systems into the measurement data processing measurement error is proposed by estimating the nonlinear measurement extended Kalman filter algorithm under the measurement error,then the effective measurement error amended Finally,a reduced error of linear filtering equation.Through the simulation of the filtering algorithm,the filtering algorithm to increase with the distance of the Modification in real time on the observation error covariance matrix is calculated to offset the impact of the linearization error,which can effectively improve the extended Kalman filtering,and greatly reduce the radar target tracking error,improve the tracking accuracy.