摘要
研究Unscented变换的基本原理及Unscented Kalman Filter(UKF)算法。为了降低跟踪系统计算复杂性,在Unscented变换中引入单位矩阵,以简单的数值计算取代复杂的矩阵分解求解矩阵平方根的过程,把UKF改进为FM- SRUKF。对三维坐标系下的变加速运动目标进行跟踪仿真。结果表明FMSRUKF具有更好的精度和鲁棒性。
This paper presents investigations on the principle of Unscented transformation and UKF (Unscented Kalman Filter) algorithm.To simplify the computing complexity of the tracking system,the identity matrix is introduced into the Unscented transfor- mation,and the complicated matrix calculation is replaced by simple numerical calculation for matrix square root solving,that is FMSRUKF(Fixed Matrix Square Root Unscented Kalman Filter),the improved algorithm of UKF.The simulation results of vari- ably accelerated motion target tracking under three dimensional coordinate show that FMSRUKF achieves better precision and ro- bust.
出处
《遥测遥控》
2008年第6期68-72,共5页
Journal of Telemetry,Tracking and Command
