多平台传感器跟踪系统无序量测滤波器设计

目标跟踪技术扩展到多平台传感器时,因为不同类型的传感器具有不同的采样率、预处理时间以及数据通信延迟,导致出现多个传感器量测无序到达融合中心的现象。无序量测带来负时间量测更新问题。本文采用直接更新法进行滤波,即应用无序量测值更新当前时刻的状态估计,使其达到或逼近量测顺序处理时的滤波精度,通过简单算例验证了该方法的有效性。

When techniques for target tracking are expanded to use multiple sensors in a multiplafform, because various sensors have different sampling rates, pretreatment time and data transmission delays which lead the phenomenon that measurements produced by sensors typically arrive at a central processor out of sequence. Out of sequence measurement bring on negative time update problem. This paper uses the immediacy update method to filter, that is, applying out of sequence measurements update current state estimating value which reach or approach the filtering precision of sequence measurements. By simple example this method is feasible.