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基于高斯和SCKF的姿态角辅助三维目标跟踪

DOI: 10.13195/j.kzyjc.2013.1556, PP. 46-52

Keywords: 目标跟踪,均方根容积卡尔曼滤波,高斯和滤波,模型切换

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Abstract:

首先,根据目标运动与姿态角的关系,分析目标在偏航角和俯仰角下的速度变化,进而推导出姿态角辅助三维目标跟踪模型;然后,针对姿态角量测非高斯情况,在分析均方根容积卡尔曼滤波的基础上,提出新的高斯和均方根容积卡尔曼滤波算法,以提高非线性非高斯的处理能力;最后,结合不同运动模式下姿态角分量的特点,建立姿态角分量不同的跟踪模型,通过模型切换实现对姿态角机动的跟踪.仿真结果验证了所提出跟踪模型和滤波算法的正确性和有效性.

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