基于两点外推法的跟踪滤波器启始方法研究

A Study of Tracking Filter Initiation Algorithm Based on 2-Step Estimation

对于多目标跟踪系统,滤波器的起始波门的设计是一个关键问题。首先给出了利用量测标准差与采样周期比值的相对大小来确定滤波器启始的方法,然后利用目标速度极限的先验信息构造环状波门,并考虑量测噪声对环状波门的影响,利用矩阵范数特性,导出一种更精细的基于两点外推的滤波器启始法。仿真结果表明利用本文方法构造出的波门的置信区间比其他两种方法所构作出的更为合理。

The design of initial gate is a crucial problem in multi-target track system. The ratio of measurement noises standard deviations to sample period is considered for choosing the method of filter initial in target tracking problems. Then the prior knowledge of velocity is used for constructing a ring gate of filter. Considering measurement noise for the ring gate, and the character of matrix norm, a new tracking filter initial algorithm based on 2-step estimation was developed. The algorithm is illustrated via Monte Carlo simulation where a more reliable confidence interval of gate is achieved over two other algorithms.