光电跟踪的非线性卡尔曼滤波算法

为得到最小方差意义下的光电跟踪目标的最优状态估计,提出将部分状态卡尔曼滤波和非线性系统的一阶线性化思想相结合,构成一种适用于非线性光电跟踪目标的卡尔曼滤波算法,并总结出详细算法结构.同时将此方法应用到非线性测量光电跟踪系统中,并与扩展卡尔曼滤波和U卡尔曼滤波进行性能对比.仿真实验结果证明,将部分状态卡尔曼滤波和非线性系统的一阶线性化思想相结合是有效可行的,而且其性能明显优于扩展卡尔曼滤波和U卡尔曼滤波.

Nonlinear Kalman Filter Method for Electro-optical Tracking

In order to obtain the optimal minimum variance state estmation for electro-optical tracking,a nonlinear Kalman filter algorithm is provided by combining reduced state Kalman filter and first-order linear in nonlinear system,and the algorithm structure is summarized in detail.Then,it is applied in nonlinear measurement electro-optical tracking system and compared the performances of reduced state Kalman filter with extended Kalman filter and unscented Kalman filter.The Matlab simulation results show that combining reduced state Kalman filter and first-order linear in nonlinear system is valid,and the performance outperforms the extended Kalman filter and unscented Kalman filter.