非线性非高斯条件下基于UPF算法的目标跟踪

Target Tracking Algorithm Based on and Non-Gaussian UPF in the Non-Linear State

在非线性非高斯状态空间下，粒子滤波是一种有效的非线性滤波算法。文章重点分析了粒子滤波的改进算法——UPF滤波算法，利用matlab进行了仿真实验，与PF算法进行了比较，结果表明UPF算法在跟踪精度和时效性上均优于普通粒子滤波算法。

Particle filtering algorithm is an effective non-linear filter in the non-linear and non-gaussian state. The UPF algorithm is analyzed in this paper which is based on the improvement particle filter algorithm. Experiments are made in matlab. It is proved that the location error by UPF is less than PF algorithms, and the efficiency is higher than PF algorithms.