Target tracking method based on maximum correntropy cubature particle filter
A technology of target tracking and particle filtering, which is applied in the direction of radio wave reflection/re-radiation, radio wave measurement system, and utilization of re-radiation to achieve the effect of avoiding linearization errors
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[0048] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0049] A kind of target tracking method based on MCCPF of the present invention, flow chart such as figure 1 shown, including the following steps:
[0050] Step 1: Establish the state equation and observation equation describing the target tracking system as follows:
[0051]
[0052] Among them, k-1 means the k-1th moment, k means the kth moment, x k is the state vector of the n-dimensional tracking target parameters at the kth moment, z k is the measurement vector of the m-dimensional tracking target parameters at the k+1th moment, f( ) and h( ) are known nonlinear functions, w k-1 is the n-dimensional system noise at the k-1th moment, v k is the m-dimensional measurement noise at the kth moment, assuming that the system noise obeys the Gaussian distribution w k-1 ~N(0,Q k-1 ), the measurement noise contains outliers and ob...
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