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.
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[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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