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本文主要从雷达多目标跟踪中的目标模型设定和量测系统的非线性关系出发,分析了目前广泛采用推广卡尔曼滤波器(EKF)的滤波精度。文中首先把量测系统的非线性与量测系统的不确性联系起来,针对只考虑量测方程的非线性的情况,给出了一种修正量测方差二阶滤波器,然后利用这种二阶滤波器分析了EKF的滤波误差。结果表明,EKF和二阶滤波器相比,滤波性能基本相同。
This paper mainly analyzes the non-linear relationship between the target model setting and the measurement system in radar multi-target tracking, and analyzes the filtering accuracy of the widely used Extended Kalman Filter (EKF). Firstly, the nonlinearity of the measuring system is linked to the uncertainty of the measuring system. Aiming at the nonlinearity of the measuring equation, a modified second-order filter for measuring the variance is given. Then, The second order filter analyzes the filter error of EKF. The results show that, compared with the second-order filter, the performance of EKF is basically the same.