Auxiliary truncation particle filtering method, device, target tracking method and device
A particle filter, particle technology, applied in the field of nonlinear filtering, can solve problems such as target model uncertainty
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[0042] Certain words are used to refer to specific components in the description and claims, and those skilled in the art should understand that manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in name as a way to distinguish components, but use the difference in function of components as a basis for distinction. The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0043] In many practical engineering applications such as signal processing, communication, radar, sonar, etc., dynamic space models are often used to describe many problems. Its model can be expressed as state equation (1) and observation equation (2):
[0044] x k = f k (x k-1 )+v k (1)
[0045] z k = h k (x k )+e k (2)
[0046] In the formula, and represent known nonlinear functions respectively; Indicates the system state vector at time k; is the obser...
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