Target tracking method based on cubature strong tracking information filter

A technology for target tracking and tracking information, applied in the field of target tracking, it can solve computational problems, complex problems, etc., and achieve the effect of strong tracking ability and good robustness.

Active Publication Date: 2013-08-28
INST OF FLEXIBLE ELECTRONICS TECH OF THU ZHEJIANG
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But there is still a problem, that is, when estimating the attenuation coefficient, the Jacobian matrix of the measurement equation needs to be calculated
This is complicated and can easily cause computational problems

Method used

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  • Target tracking method based on cubature strong tracking information filter
  • Target tracking method based on cubature strong tracking information filter

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Embodiment Construction

[0021] The following first establishes a model for tracking the motion state of the target, then gives the filtering formula of the volume information filter, and finally introduces the implementation process of the present invention based on the target model and the filtering formula of the volume information filter.

[0022] 1 System Modeling

[0023] Given the following dynamic model of the nonlinear system

[0024]

[0025] in is the time index, Indicates the system status ( for dimensional column vector set), is the observation column vector, as well as are differentiable functions. with are Gaussian white noise with zero mean,

[0026] which is

[0027]

[0028] in For the averaging operation, , are known, respectively with The variance of , the initial state is , the mean and variance of which are with , and with irrelevant.

[0029] 2 Give the specific filtering formula of the volume information filter

[0030] time update ...

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Abstract

The invention relates to a target tracking method based on a cubature strong tracking information filter. The method includes: estimating one-step prediction target state; iteratively computing a pseudo-observation matrix, an innovation matrix, an information matrix and an information state vector; and calculating optimal linear estimation of the target state and error covariance of the optimal linear estimation. According to the method, a decay factor can be obtained by iterative computing of the pseudo-observation matrix with no need for computing Jacobi matrix. In addition, a time-varying decay factor based on latest update is introduced, the CSTIF (cubature strong tracking information filter) has high strong tracking capacity and is well robust while tracking target state mutates and a system model is inaccurate.

Description

technical field [0001] The invention belongs to the field of target tracking of nonlinear systems, in particular to a target tracking method based on a volumetric strong tracking information filter. Background technique [0002] Nonlinear filtering is one of the hot topics in the field of signal processing, target tracking and control. In particular, the research on nonlinear filtering under the framework of Kalman filtering is still a very hot issue, which has received more and more attention in recent years. attention and research. [0003] The Kalman filter (KF) was originally proposed by R.E Kalman when dealing with the state estimation of linear dynamic systems. Subsequently, the Extended Kalman Filter (EKF) was proposed one after another to extend the application of KF to nonlinear systems. Because the original system is linearized using the Taylor expansion formula, the performance of EKF is not ideal. In particular, the calculation of the Jacobian matrix severely l...

Claims

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Application Information

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IPC IPC(8): G06F19/00
Inventor 葛泉波姚树鹤文成林管冰蕾
Owner INST OF FLEXIBLE ELECTRONICS TECH OF THU ZHEJIANG
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