一种纯距离跟踪滤波器的改进算法

针对纯距离目标跟踪可观测程度较低的问题,提出一种基于角度参数的纯距离目标跟踪改进算法。文中方法将系统的观测区间范围划分为若干个子扇区,每个子扇区采用一个独立的加权扩展卡尔曼滤波器进行纯距离跟踪,利用贝叶斯理论来修正各滤波器的权重,系统的输出为各并行运行的滤波器估计值的加权和,最终获得目标的运动轨迹。系统的仿真结果表明,方法收敛速度快,跟踪精度高于扩展卡尔曼滤波器的跟踪精度。

An Improved Algorithm for Range-only Tracking Filters

As an effort to establish the observability of the range-only target tracking,the feasibility of the target tracking based on ex- tended Kalman filters with angle parameters is studied in this paper.By this method,the region of the measurement system is divided into several subintervals,and each of them has a different initial azimuth value.The accurate target motion trajectory is achieved by running in parallel a set of weighted EKFs,and the weight of each filter is updated by using the Bayes' rule.The simulation statistical performances indicate that the proposed method solves the problems in the existing extended Kalman tracker.