地面目标跟踪算法研究

本文重点研究地面运动目标跟踪中利用道路约束提高单目标状态估计精度的方法。按照在Kalman滤波过程中作用的对象,将其归结为三类,即利用道路约束进行量测预处理、模型修正、状态估计处理。首先对这三类方法的原理进行了介绍,给出各自的应用条件。然后将各种方法进行可能的组合,从状态估计精度和计算时间复杂度方面做出了分析。仿真实验将这些方法进行比较,结果表明各种利用道路约束的方法都不同程度地改善了估计性能,且合理的组合可以更有效地利用道路约束,从不同的层面共同提高估计精度。对于各种算法时间复杂度的定量分析,也便于实际应用时对算法的选择。

Algorithms of Ground Moving Target Tracking

This paper aims to explore methods for ground moving target tracking using road constraint to improve accuracy of state estimate.Some existing methods are categorized to three kinds according to their operating objects,i.e.measurement preprocessing,mod- el modification and state estimate processing.Each of these algorithms'theory is introduced and its application conditions are given. Then some possible combinations of different algorithms are given and analyzed from estimate accuracy and time complexity.Simulations show that all of these algorithms improve tracking performances to some extent.Reasonable combination of them can increase accuracy because of its effective application of road information.Quantitative analysis of time complexity of each algorithm is given to make choice among these algorithms convenient.