| 基于改进扩展卡尔曼滤波算法的静电目标跟踪 |
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| 引用本文： | 付巍,崔占忠.基于改进扩展卡尔曼滤波算法的静电目标跟踪[J].光电工程,2009,36(7). |
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| 作者姓名： | 付巍 崔占忠 |
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| 作者单位： | 1. 北京理工大学机电学院,北京,100081;中北大学信息与通信工程学院,太原,030051
2. 北京理工大学机电学院,北京,100081 |
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| 基金项目： | 机电工程与控制国家重点实验室项目 |
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| 摘 要： | 针对静电探测的数学模型结构复杂、强非线性以及实验测量数据存在极大不确定性的特点和 ExtendedKalman Filter(EKF)在处理强非线性的测量方程时会出现滤波发散的现象.为了提高滤波精度和减少计算复杂度,采用中心差分的方法计算EKF中的非线性函数的一阶导数,并结合球形静电探测器实际探测的特点形成一种新的改进的EKF算法.将改进后的EKF应用于静电目标的跟踪,建立目标跟踪滤波器.理论分析和仿真表明,采用改进后的EKF与EKF和Unscented Kalman Filter(UKF)相比较,虽然计算时间比EKF稍有增加,但比UKF的计算时间少;而计算精度比EKF有显著提高,与UKF的计算精度相当.
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| 关 键 词： | 静电目标跟踪 改进的EKF 静电探测 |
Electrostatic Target Tracking Based on Improved Extended Kalman Filter |
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| FU Wei,CUI Zhan-zhong.Electrostatic Target Tracking Based on Improved Extended Kalman Filter[J].Opto-Electronic Engineering,2009,36(7). |
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| Authors: | FU Wei CUI Zhan-zhong |
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| Affiliation: | FU Wei1,2,CUI Zhan-zhong1(1.School of Mechatronic,Beijing Institute of Technology,Beijing 100081,China,2.School of Information and Communication Engineering,North University of China,Taiyuan 030051,China) |
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| Abstract: | Electrostatic target tracking is highly complex and strongly nonlinear and the experimental data are incomplete and uncertain.In order to improve filtering accuracy and reduce computational complexity,a central difference method was applied to Extended Kalman Filter(EKF) for calculating the nonlinear function and a new improved EKF algorithm was formed based on the characteristics of the spherical electrostatic probe.The improved EKF was applied to electrostatic detection tracking.Theoretical analysis and s... |
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| Keywords: | UKF |
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