含未知参数的自校正α-β滤波器实用性分析

Practical analysis of self-tuningα-βfilter with unknown model parameter

为了研究自校正α-β滤波器在模型中含未知模型参数时的实用性,以目标跟踪系统为例,对于未知参数在不同情形下的滤波器的实用性进行理论分析和实验验证。当参数估值稳定且收敛时,自校正α-β滤波器在无限时间内是收敛且有效的,且具有实用性;当参数估值不收敛时,在确定的崩溃点时刻到来之前,自校正α-β滤波器在有限时间里是有效的且具有实用性。提出预判崩溃点时刻的初等函数快速判断方法,以拓展自校正α-β滤波器的实用范围。

In order to study the practicability of self-tuningα-βfilter of target tracking system with unknown model parameters,taking target tracking system as an example,theoretical analysis and experimental verification of the unknown parameters are carried out in different situations.When the parameter estimation is stable and convergent,the self-tuningα-βfilter is convergent and effective in infinite time,and has practicality.When the parameter estimation is not convergent,the self-tuningα-βfilter is effective and practical before the definite collapse point.A quick judgment method of elementary function for predicting the moment of collapse is proposed,which effectively expands the practical range of the self-tuning filter.