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采用EM算法对粒子滤波跟踪算法进行改进

DOI: 10.11834/jig.20090906

Keywords: 目标跟踪,粒子滤波算法,EM算法,运动模型,转弯机动

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Abstract:

提出了一种改进粒子滤波跟踪算法EMPF(expectation-maximizationparticlefilter)。针对传统粒子滤波存在的动态模型的不确定问题,将EM算法与粒子滤波算法有效结合,将运动模型的参数作为待估量,采用EM算法来确定目标的运动模型参数,从而获得对目标状态的较准确估计。实验结果表明,当目标做复杂的转弯运动时,该算法能够显著地提高对目标运动状态的预测精度。

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