摘要
为了克服超宽带在非视距室内目标动态跟踪不精确的困难,提出了一种基于超宽带的室内小车动态跟踪方法。首先利用卡尔曼滤波对测距部分进行滤波降噪处理,建立超宽带测距卡尔曼系统模型;然后利用粒子滤波实现动态跟踪,建立基于超宽带的室内小车动态定位跟踪模型;最后通过Matlab软件,对粒子滤波的实际跟踪定位精度及跟踪速度进行分析。实验结果表明:通过与扩展卡尔曼滤波对目标小车定位跟踪对比得知,粒子滤波定位跟踪精度比扩展卡尔曼滤波提高了14.088%,跟踪速度满足实验需求,跟踪轨迹更加接近真实轨迹。
In order to improve the inaccuracy of the ultra-wideband indoor target dynamic tracking,a novel indoor vehicle dynamic tracking method based on ultra-wideband is proposed.Firstly,kalman filter is used to filter and reduce the noise of the ranging part,and the ultra wide band ranging kalman system model is established.Then,particle filter is used to realize dynamic tracking,and an indoor vehicle dynamic positioning and tracking model based on ultra-wideband is established.Finally,through Matlab software,the actual tracking and positioning accuracy and tracking speed of particle filter are analyzed.In the end,by comparing with the extended kalman filter on the target vehicle location tracking,the experimental results show that the particle filter location tracking accuracy is 14.088%higher than the extended kalman filter,the tracking speed meets the experimental requirements,and the tracking track is closer to the real track.
作者
匡兵
陈凤冉
孙毛毛
曾宪锋
景晖
KUANG Bin;CHEN Fengran;SUN Maomao;ZENG Xianfeng;JING Hui(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin 541000,China)
出处
《重庆理工大学学报（自然科学）》
CAS
北大核心
2020年第12期163-169,共7页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金项目(51605108)
桂林电子科技大学研究生教育创新计划项目(2019YCXS014)。
关键词
超宽带
目标跟踪
卡尔曼滤波
粒子滤波
ultra-wideband
target tracking
Kalman filter
particle filter
