基于Kalman的滤波目标精确跟踪技术研究

阐述了基本kalman滤波方法，讨论了针对非线性系统应用的kalman滤波方法的改进形式EKF、UKF。为了增进UKF运算效能，提出了引入衰减系数的滤波形式DCUKF。针对二维平面非匀速运动的目标的精确跟踪定位系统，仿真对比分析了EKF、UKF及DCUKF的滤波计算效果。结果表明DCUKF有更好的滤波效果。

Kalman Filter Algorithm and Its Application in Accurate Target Tracing System

In this paper, the basic principles of Kalman Filter algorithm are studied. UKF （Unscented Kalman Filter） and EKF（Extended Kalman filter）,the improved algorithms of Ka]man Filter for nonlinear system are discussed. In order to improve the computing efficiency of UKF, a new algorithm named DCUKF（Decay Coefficient Unscented Kalman Filter） is proposed by in troduction of a decay coefficient. The simulations on accurate target tracing model of non-uniform velocity in two-dimensional plane show that DCUKF could achieve better precision and robustness.