随机超曲面模型容积卡尔曼扩展目标跟踪算法

Cubature Kalman Extended Target Tracking Algorithm Based on Random Hypersurface Model

针对复杂环境下不规则形状的星凸形扩展目标跟踪问题,论文提出了一种基于随机超曲面模型(RHM)的容积卡尔曼扩展目标跟踪算法。首先,利用随机超曲面模型对星凸形扩展目标的量测源进行建模,建立扩展目标的跟踪滤波量测模型。然后,详细推导并提出基于RHM的容积卡尔曼扩展目标跟踪算法的实现过程。最后,通过构造具有不规则形状的扩展目标跟踪仿真实验验证了论文所提算法的有效性。

Aiming at the problem of star convex extended target tracking with irregular shape in complex environment,this pa⁃per proposes an Cubature Kalman extended target tracking algorithm based on random hypersurface model(RHM).Firstly,the ran⁃dom hypersurface model is used to model the measurement source of the star-convex extended target,and the tracking filter mea⁃surement model of the extended target is established.Then,this article derives in detail and proposes the implementation process of the Cubature Kalman extended target tracking algorithm based on RHM.Finally,the effectiveness of the proposed algorithm is veri⁃fied by constructing extended target with irregular shape tracking simulation.