带二次约束的容积卡尔曼目标跟踪算法.pdf

142 2017 ，53（1） Computer Engineering and Applications 计算机工程与应用 带二次约束的容积卡尔曼目标跟踪算法 王 睿，杨晓峰，彭 力 WANG Rui, YANG Xiaofeng, PENG Li 江南大学 物联网工程学院, 江苏 无锡 214122 School of Internet of Things Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China WANG Rui, YANG Xiaofeng, PENG Li. Target tracking algorithm based on cubature Kalman filter with quadratic equality constraints. Computer Engineering and Applications, 2017, 53 （1）：142-146. Abstract: In order to improve the tracking precision of moving target with quadratic equality constraints, a target tracking method based on cubature Kalman filter for systems with quadratic equality constraints is proposed. Firstly, the posteriori estimate is obtained by using the cubature Kalman filter. Then through regarding the quadratic constraints as the measurement equation, a satisfied amendment is obtained for the posteriori estimate. Finally a simulation experiment is carried out to test the performance of the algorithm. The simulation results show that, compared with the traditional constraint Kalman filtering algorithm, the proposed algorithm has improved accuracy and stability of target tracking. Key words: single station passive location; cubature Kalman filter; quadratic equality constraint 摘 要：为了提高对带约束目标的跟踪精度，提出了一种带二次约束的容积卡尔曼目标跟踪算法。使用容积卡尔曼 滤波得到当前时刻后验估计，通过将系统二次约束作为测量方程引入系统，对后验估计进行修正，最后采用仿真实 验对算法性能进行测试。实验结果表明，相对于传统的约束卡尔曼滤波算法，在同等条件下，该算法提高了目标跟 踪精度，并且稳定性更强。 关键词：单站无源定位; 容积卡尔曼滤波; 二次等式约束 文献标志码：A 中图分类号：TN971 doi ：10.3778/j.issn. 1002-8331.1503-0371 1 引言 针对目标跟踪问题，国内外学者进行了大量深入研 基于外辐射源的无源定位技术通过接收来自外辐 究。由于目标在一定时间内的运动满足一定的约束信 射源的直射波以及外辐射源照射目标的反射波，利用它 息，如机动车辆行驶在一定的道路上、飞行器飞行在一 们的相关信息实现目标定位，相较于传统的主动雷达具 定的航线上。对于带非线性等式约束的卡尔曼滤波器， [1-2] [5] 有体积小，低空探测，隐蔽性强等优点 。外辐射源一 已有深入研究 。对非线性等式约束使用一阶泰勒级数