摘要
SRUKF滤波器能够解决滤波过程非线性问题,以及在更新步骤中误差协方差矩阵奇异导致的发散问题,在目标跟踪算法中得到了广泛应用。同时,针对汽车毫米波雷达目标跟踪时状态方程线性和测量方程非线性的特点,提出了一种改进的快速SRUKF算法。相对于常规SRUKF,该方法减少了计算量,且滤波精度没有下降,适用于嵌入式汽车雷达模块的实时信号处理。
Square root unscented kalman filter （SRUKF） could solve the nonlinear estimation problem in filtering, and guarantees state covariance to be positive semi-definite during update process, thus is widely used in target tracking algorithm. This paper proposes a faster SRUKF algorithm which reduces computation than regular SRUKF without accuracy sacrifice, which is suitable for real-time signal processing on built-in vehicle radar module.
出处
《汽车电器》
2016年第8期42-44,49,共4页
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