卡尔曼跟踪滤波器的一种改进的运动模型

传统的卡尔曼跟踪滤波器都以匀速(cV)或匀加速(cA)运动作为目标运动模型,其模型固有的误差限制了跟踪精度的进一步提高。本文提出了一种保持目标推进力与速度方向成固定夹角的运动模型,在保持直线运动跟踪精度不变的条件下,使一般曲线运动跟踪精度向直线运动跟踪精度水平逼近。

A Improved Motion Model for Kalman Trackers

Traditional kalman trackers use constant velocity or constant acceleration motion Model. The Model's error limited the tracking precision. This paper advances a new motion model which keeps a constant propulsion-velocity angle. Trackers use the new Model have the same performance with the traditional ones on straightaway-tracks and a much better performance on arc-tracks which approaches the straightaway tracks' levels.