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自动化学报 2008
利用位置测量的单点和两点差分跟踪起始算法的比较研究DOI: 10.3724/SP.J.1004.2008.00258, PP. 258-265 Keywords: Trackinitiation,Kalmanfilter,unbiasedestimator,minimummeansquareerror Abstract: ？Weconsidertheproblemofinitializingthetrackingfilterofatargetmovingwithnearlyconstantvelocitywhenposition-only(1D,2D,or3D)measurementsareavailable.ItisknownthattheKalmanfilterisoptimalforsuchaproblem,provideditiscorrectlyinitialized.Wecompareasingle-pointandthewell-knowntwo-pointdifferencetrackinitializationalgorithms.Weanalyticallyshowthatiftheprocessnoiseapproacheszeroandthemaximumspeedofatargetusedtoinitializethevelocityvarianceapproachesinfinity,thenthesingle-pointalgorithmreducestothetwo-pointdifferencealgorithm.Wepresentnumericalresultsthatshowthatthesingle-pointalgorithmperformsconsistentlybetterthanthetwo-pointdifferencealgorithminthemeansquareerrorsense.Wealsopresentanalyticalresultsthatsupporttheconjecturethatthisistrueingeneral.
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