基于自动加权法的扩展卡尔曼滤波数据融合算法研究

Research on extended Kalman filter data fusion algorithm based on automatic weighting method

在雷达组网系统的数据融合过程中使用扩展卡尔曼滤波容易出现发散现象。文章针对扩展卡尔曼滤波器发散的难题,提出了一种基于自动加权法抑制扩展卡尔曼滤波发散的新思路。首先利用自动加权法判断出扩展卡尔曼滤波器是否发散;然后根据判断结果对扩展卡尔曼滤波器进行相应的处理。从而减少扩展卡尔曼滤波器发散对滤波估计的影响,大大地提高数据融合算法中扩展卡尔曼滤波器的精度,使算法能更好地完成雷达组网的数据融合功能。

Using extended Kalman filtering in the data fusion process of radar network system is prone to divergence.For the problem of the extended Kalman filter divergence,this paper proposes a new idea to suppress the divergence of the extended Kalman filter.Firstly,the automatic weighting method is used to determine whether the extended Kalman filter diverges,and then to evaluate the judgment result accordingly.Thus reduce the impact of extended Kalman filter divergence on filter estimation,greatly improve the accuracy of extended Kalman filter in the data fusion algorithm,so that the algorithm can better complete the data fusion function of radar network.