解耦的转换测量Kalman滤波算法

Decoupled Converted Measurement Kalman Filter

对于极坐标观测下的目标跟踪问题 ,基于转换测量Kalman滤波器 (CMKF) ,应用正规变换 ,得到了解耦的CMKF算法 ,同时研究了CMKF和解耦CMKF算法的初值估计问题 .仿真结果表明了解耦CMKF算法及其初值估计的有效性 .

Using canonical transform, a decoupled filter, which is analytic form, is proposed based on converted measurement Kalman filter (CMKF) for target tracking when target positions are measured in polar coordinates. Initial values for CMKK and decoupled CMKK are also investigated. Simulation results show its validity.