| 光电经纬仪的粒子-卡尔曼联合目标跟踪算法及仿真 |
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| 引用本文： | 贾庆莲,乔彦峰,邓文渊.光电经纬仪的粒子-卡尔曼联合目标跟踪算法及仿真[J].光电技术应用,2007,22(2):66-70. |
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| 作者姓名： | 贾庆莲 乔彦峰 邓文渊 |
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| 作者单位： | 1. 中国科学院长春光学精密机械与物理研究所,吉林,长春,130031;中国科学院研究生院,北京,100039
2. 中国科学院长春光学精密机械与物理研究所,吉林,长春,130031 |
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| 摘 要： | 针对系统状态方程是线性，观测方程是非线性的被动光电测量问题，分析了常用的EKF法（扩展卡尔曼滤波法）、PF法（粒子滤波法）、UKF法（无迹卡尔曼滤波法）的优缺点，提出了以PF法与EKF法相结合的方法作为光电经纬仪的目标跟踪算法．为解决单台光电经纬仪的不可观测性问题，采用2台交汇的观测数据作为观测量进行计算．通过蒙特卡洛仿真计算，比较了上述各种方法对同一运动模型的跟踪结果，证明PF-EKF法在交汇光电经纬仪的目标跟踪中精度较高，而EKF算法的实时性较高．
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| 关 键 词： | 光电经纬仪 目标跟踪 非线性滤波 蒙特卡洛仿真 |
| 文章编号： | 1673-1255(2007)02-0066-05 |
| 修稿时间： | 2007年2月26日 |
PE-EKF Model Tracking Algorithm and Simulation of Measure of Intersection with Photoelectric Thedolites |
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| JIA Qing-lian,QIAO Yan-feng,DENG Wen-yuan.PE-EKF Model Tracking Algorithm and Simulation of Measure of Intersection with Photoelectric Thedolites[J].Electro-Optic Technology Application,2007,22(2):66-70. |
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| Authors: | JIA Qing-lian QIAO Yan-feng DENG Wen-yuan |
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| Abstract: | In order to solve passive photoelectric measure with linear target motions,nonlinear measurement,the excellence and disadvantage of different algorithms for EKF,UKF,PF are studied.A unite algorithm of PF and EKF is introduced and developed for target tracking with photoelectric thedolites.The measurement data of measure of intersection with two photoelectric thedolites are observation data for the sake of the non-observation problem of the single photoelectric thedolite.Monte carlo simulation results show that the PF-EKF algorithm could improve the precision and EKF algorithm could increase the tracking speed. |
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| Keywords: | photoelectric thedolites model tracking nonlinear filter monte carlo simulation |
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