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提出一种运动参数受限的目标跟踪算法,对于速度受限目标采用平滑修正滤波跟踪算法,首先使用Kalman滤波得到当前时刻的滤波值,找到平滑精度最高点,根据速度限制条件,对滤波结果进行修正。为了保证滤波的无偏有效性,修正计算得到的结果不参与后续滤波处理。通过理论分析和仿真表明,速度受限跟踪算法在观测误差相对较大以及滤波起始阶段可以使滤波跟踪效果获得较大的改善。
A target tracking algorithm with limited motion parameters is proposed. For the limited speed target, a smoothing correction filter is used. Firstly, the Kalman filter is used to get the filter value at the current time. The highest smoothing point is found. According to the speed limit, Fixed. In order to ensure unbiased filtering, the results of the modified calculation do not participate in the subsequent filtering. The theoretical analysis and simulation show that the speed limited tracking algorithm can greatly improve the filtering tracking effect when the observation error is relatively large and the initial stage of the filtering is adopted.