Hybrid square root cubature Kalman filtering method used for target tracking
A Kalman filter and target tracking technology, which is applied in the fields of target tracking, car assisted driving, car autonomous driving and car active safety, can solve problems such as difficult to meet the high real-time requirements of the system, achieve strong real-time performance and improve filtering efficiency Effect
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[0056] With reference to the accompanying drawings, the implementation of the hybrid square root volume Kalman filter method for target tracking according to the present invention is as follows:
[0057] Step 1: Define the target state vector at time k Where x k , Respectively represent the distance, velocity and acceleration of the target in the X direction at time k, y k , Respectively represent the distance, speed and acceleration of the target in the Y direction at time k, the symbol T represents matrix transposition; define the target measurement vector Y at time k k =[r k ,a k ,v k ] T , Where r k , A k , V k Respectively represent the radial distance, azimuth angle and radial velocity from the target to the sensor at time k. k=1,2...n,n∈Z + .
[0058] According to the target measurement vector Y at k=0 0 Initialize the target state vector X at k=0 0 , The initialization method is shown in formula (1):
[0059] X 0 =[r 0 cos(a 0 ),v 0 cos(a 0 ),0,r 0 sin(a 0 ),v 0 sin(a 0 ),...
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