火力与指挥控制2023，Vol.48Issue(12)：47-52,6.DOI:10.3969/j.issn.1002-0640.2023.12.007
交互多模自适应容积Kalman滤波算法设计及履带车辆跟踪应用
Design of Theinteractive Multimode Adaptive Cubature Kalman Filtering Algorithm and Its Application in Tracked Vehicle Tracking
摘要
Abstract
To meet the real-time tracking of tracked vehicles as maneuvering targets and the accurate estimation of target speed and heading angle,as the measured values include correlation multiplicative noise,the cubature Kalman filter algorithm is improved with the innovation analysis method based on the known and unknown noise correlation coefficients.Considering that the single model filter is difficult to track the maneuvering targets accurately,an interactive multi-mode adaptive cubature Kalman filtering algorithm is proposed by using the interactive multi-model algorithm to describe the trajectory of tracked vehicles.The simulation results show that the interactive multi-model adaptive cubature Kalman filtering algorithm has a stable tracking effect on vehicle maneuver,and the multiplicative noise is effectively treated.关键词
目标跟踪/自适应容积Kalman滤波/交互式多模型/乘性噪声Key words
target tracking/adaptive cubature Kalman filter/interactive multiple models/multiplica-tive noise分类
武器工业引用本文复制引用
于镇滔,李若霆,王忠庆,刘鹏,卢志刚..交互多模自适应容积Kalman滤波算法设计及履带车辆跟踪应用[J].火力与指挥控制,2023,48(12):47-52,6.基金项目
国家自然科学基金(61903343) （61903343）
装备预先研究项目(41403010111) （41403010111）
测试仪器科研项目(2005CS037) （2005CS037）
山西省高等学校科技创新基金资助项目(2019L0596) （2019L0596）
