一种基于CMKF建立跟踪初始估计的方法

A Method for Establishing the Initial Estimation of Target Tracking Based on the CMKF-D Alogrithm

针对极坐标观测条件下的目标跟踪 ,本文基于去偏转换测量卡尔曼滤波算法 (CMKF D) ,提出了一种建立跟踪初始估计的方法 :目标初始状态由前两点观测值估计 ,初始估计误差协方差由状态方程和CMKF D中观测误差协方差计算得到。仿真结果表明 ,使用该方法建立初始估计 ,能使滤波器迅速收敛至稳态 。

Based on the converted measurement Kalman filter with debiasing algorithm, the error mean and the error covariance are computed with statistical method after the polar measurements are transformed to Cartesian. In this paper, a new method on how to establish the initial estimation of target tracking by the first and the second measurements is put forward by the measuring equation in polar coordinates. Compared with the prior arts, the new method shows a good result no matter the error measured is small or large.