| 直角坐标系下的水下被动目标跟踪自适应卡尔曼滤波算法 |
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| 引用本文： | 石章松,王树宗,刘忠.直角坐标系下的水下被动目标跟踪自适应卡尔曼滤波算法[J].声学技术,2004,23(3):173-177. |
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| 作者姓名： | 石章松 王树宗 刘忠 |
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| 作者单位： | 海军工程大学兵器工程系,湖北,武汉,430033 |
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| 摘 要： | 针对纯方位被动目标跟踪中，直角坐标系下的扩展卡尔曼滤波器容易发散，导致滤波精度很差的情况，文章中提出了一种直角坐标系下自适应卡尔曼滤波算法，对虚拟噪声进行了估计，动态补偿观测模型的线性化误差，削减系统的观测误差，并对其滤波理论及其算法进行了研究和仿真，结果表明，该算法提高了滤波的稳定性、快速性和精确性，优于一般的扩展卡尔曼滤波算法。
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| 关 键 词： | 动目标跟踪 自适应卡尔曼滤波 算法 纯方位 扩展卡尔曼滤波器 线性化 仿真 快速性 动态补偿 虚拟 |
| 文章编号： | 1000-3630(2004)03-0173-05 |
| 收稿时间： | 2003/7/7 0:00:00 |
| 修稿时间： | 2004/1/16 0:00:00 |
An adaptive Kalman filter algorithm used in the underwater passive target tracking in a Cartesian coordinate system |
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| SHI Zhang-song,WANG Shu-zong and LIU Zhong.An adaptive Kalman filter algorithm used in the underwater passive target tracking in a Cartesian coordinate system[J].Technical Acoustics,2004,23(3):173-177. |
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| Authors: | SHI Zhang-song WANG Shu-zong and LIU Zhong |
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| Affiliation: | Department of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China;Department of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China;Department of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China |
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| Abstract: | Taking into account the instability and low accuracy of passive filters in bearings-only target tracking, a modified polar coordinate adaptive extended Kalman filter (MPAEKF) algorithm is presented. Virtual noise is estimated, and errors due to linearization are dynamically compensated for so that the system's observation error is reduced. The filtering theory and the algorithm are studied. Simulation results show that MPAEKF can improve the filter convergence and accuracy. |
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| Keywords: | passive target tracking adaptive filtering virtual noise |
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