摘要
为满足履带车辆作为机动目标的实时跟踪和对目标速度、航向角的准确估计,针对测量值含有相关乘性噪声,采用新息分析法依据噪声相关系数已知和未知改进容积Kalman滤波算法。考虑到单模型滤波器难以准确地实现机动目标的跟踪,采用交互式多模型算法对履带车辆运动轨迹进行描述,提出一种交互式多模自适应容积Kalman滤波算法。仿真表明交互式多模型自适应容积Kalman滤波算法对车辆机动具有稳定的跟踪效果且乘性噪声得到有效处理。
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.
作者
于镇滔
李若霆
王忠庆
刘鹏
卢志刚
YU Zhentao;LI Ruoting;WANG Zhongqing;LIU Peng;LU Zhigang(North University of China,Taiyuan 030051,China;North Automatic Control Technology Institute,Taiyuan 030006,China)
出处
《火力与指挥控制》
CSCD
北大核心
2023年第12期47-52,共6页
Fire Control & Command Control
基金
国家自然科学基金(61903343)
装备预先研究项目(41403010111)
测试仪器科研项目(2005CS037)
山西省高等学校科技创新基金资助项目(2019L0596)。
作者简介
于镇滔(1995—),男,山西晋中人,硕士。研究方向:分布式估计;通信作者:刘鹏(1984—),男,山西运城人,副教授。研究方向:惯性与组合导航,分布式估计,无人系统导航与控制。
