一种简化的强跟踪容积卡尔曼滤波算法
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摘要
针对强跟踪容积卡尔曼滤波(STCKF)算法因引入渐消因子而导致计算量增加、实时性变差的问题,提出一种简化的STCKF算法。通过证明STCKF算法的时间更新环节与KF算法的一步预测过程相一致,推导出简化的STCKF算法,并进行了算法复杂度分析。仿真结果表明,简化后的STCKF算法在保证滤波精度不变的情况下,有效提高了算法实时性。
To deal with the problems of the increased calculation complexity and decreased real-time performance due to the introduction of the fading factor in Strong Tracking Cubature Kalman Filter( STCKF) algorithm, a simplified STCKF algorithm is proposed. By proving that the time update of STCKF algorithm is consistent with one-step prediction process of Kalman Filter( KF) algorithm, the simplified STCKF algorithm is derived and the complexity of the algorithm is analyzed. The simulation results show that the simplified STCKF algorithm can effectively improve the real-time performance of the algorithm while keeping the filtering accuracy.
To deal with the problems of the increased calculation complexity and decreased real-time performance due to the introduction of the fading factor in Strong Tracking Cubature Kalman Filter( STCKF) algorithm, a simplified STCKF algorithm is proposed. By proving that the time update of STCKF algorithm is consistent with one-step prediction process of Kalman Filter( KF) algorithm, the simplified STCKF algorithm is derived and the complexity of the algorithm is analyzed. The simulation results show that the simplified STCKF algorithm can effectively improve the real-time performance of the algorithm while keeping the filtering accuracy.
引文
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[7]刘万利,张秋昭.基于Cubature卡尔曼滤波的强跟踪滤波算法[J].系统仿真学报,2014,26(5):1102-1107.
[8]何友,修建娟,张晶炜,等.雷达数据处理及应用[M].北京:电子工业出版社,2006.
[9]蔡宗平,牛创,戴定成.基于简化CKF的IMM算法[J].现代防御技术,2015,43(6):111-115.
[2]王小旭,赵琳,夏全喜,等.基于Unscented变换的强跟踪滤波器[J].控制与决策,2010,25(7):1063-1068.
[3]张文玲,朱明清,陈宗海.基于强跟踪UKF的自适应SLAM算法[J].机器人,2010,32(2):190-195.
[4]ARASARATNAM I,HAYKIN S.Cubature Kalman filters[J].IEEE Transactions on Automatic Control,2009,54(6):1254-1269.
[5]张鑫春,郭承军.均方根嵌入式容积卡尔曼滤波[J].控制理论与应用,2013,30(9):1116-1121.
[6]霍光,李冬海,李晶.基于强跟踪容积卡尔曼滤波的单站无源跟踪算法[J].现代雷达,2013,35(11):52-57.
[7]刘万利,张秋昭.基于Cubature卡尔曼滤波的强跟踪滤波算法[J].系统仿真学报,2014,26(5):1102-1107.
[8]何友,修建娟,张晶炜,等.雷达数据处理及应用[M].北京:电子工业出版社,2006.
[9]蔡宗平,牛创,戴定成.基于简化CKF的IMM算法[J].现代防御技术,2015,43(6):111-115.