基于正规变换的转换测量Kalman滤波算法

A 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) ,应用正规变换方法对其进行解耦 ,经过理论推导 ,得到了变换的解析表达式。

Using canonical transform, a decoupled filter in analytic form, is proposed basing on converted measurement Kalman filter for target tracking when target positions are measured in polar coordinates. Simulation results show its validity.