A Target Location Method Based on Weighted Least Squares Volumetric Kalman Filter
A technique of weighted least squares and Kalman filtering, applied in the field of target positioning and navigation, which can solve the problems of high noise of measurement information, limited system power consumption, unstable channel, etc.
Active Publication Date: 2020-08-18
浙江望海潮科技有限公司
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At the same time, compared with wireless target positioning and tracking systems, underwater target positioning and tracking systems have disadvantages such as large measurement information noise, channel instability, and limited system power consumption. Therefore, it is necessary to find a simple and high-precision The improved target positioning method has great significance
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[0072] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0073] The present invention proposes a least squares Kalman filter (LS-CKF) and a weighted least squares Kalman filter (WLS-CKF). The former is a special case of the latter in some cases. The method combines least squares and volumetric Kalman filter algorithms to efficiently integrate the latest measurements into each volumetric particle with the aid of least squares estimation, thereby facilitating the movement of volumetric points from prior regions to high likelihood regions. In addition, in order to overcome the irreversible problems that may exist in the solution process of this method, the dimension of the measurement information is expanded, and the solution equation of the filter is improved. The new algorithm has the advantages of simple operation and high estimation accuracy, which is also proved by simulation experiments.
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The invention discloses a target positioning method based on weighted least square and cubature kalman filter. The method comprises the steps that least square estimation and cubature kalman filter methods are combined, and by means of the least square estimation method, latest measurement results are integrated to each cubage particle, so that movement of cubage points from a prior region to a high likelihood region is promoted; moreover, measurement information is subjected to dimension extension, so that the states of a target at every moment is calculated, and an error variance is estimated. The positioning method has the advantages that implementation is simple, the calculated amount is small, and the requirements of low energy consumption of an underwater positioning system are met;moreover, the estimation precision of the target state is effectively improved.
Description
technical field [0001] The invention relates to the field of target positioning and navigation, in particular to a target positioning method based on weighted least square volumetric Kalman filter. Background technique [0002] In recent years, countries have actively promoted the exploration of marine resources. Submarine resource mining, fishing, underwater robot positioning and other related research have also received great attention. Underwater target positioning and tracking technology, as the basic research of underwater operations, undoubtedly has a very important position. In the underwater target tracking system, the target tracking algorithm is often used to process the distance, angle and other measurement information to obtain the target trajectory of the underwater target. Existing filter tracking algorithms include Kalman filter (Kalman Filter, KF), extended Kalman filter (Extended Kalman Filter, EKF), unscented Kalman filter (Unscented Kalman Filter, UKF), ...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 鄢社锋徐立军石桂欣
Owner 浙江望海潮科技有限公司