摘要
在水下被动目标跟踪系统中 ,直角坐标系下的扩展卡尔曼滤波器容易发散而导致滤波精度很差。提出了一种修正极坐标系下的自适应卡尔曼滤波算法 ,对虚拟噪声进行估计 ,动态补偿模型线性化误差 ,消减系统的观测误差 ,对其滤波理论及算法进行了研究和仿真。仿真结果表明 ,该算法提高了滤波的稳定性、快速性和精确性 ,优于一般的扩展卡尔曼滤波算法。
Concerning the problem to instability and low accuracy of the passive filter on bearings-only target tracking,a modified adaptive Extended Kalman filter algorithm on polar coordinate is presented. Owing to estimating the statistics of the state virtual noise on-line,it overcomes the bad affect caused by linearization of the nonlinear state model. Simulation result shows that the algorithm improves the filtering convergence rate and the accuracy.
出处
《数据采集与处理》
CSCD
2004年第2期150-154,共5页
Journal of Data Acquisition and Processing
