吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (1): 314-321.doi: 10.13229/j.cnki.jdxbgxb201501046
刘瑜,何友,王海鹏,董凯
LIU Yu,HE You,WANG Hai-peng,DONG Kai
摘要: 针对传感器存在系统偏差条件下的三维目标跟踪问题,基于高斯求积规则与三阶球面-径向容积规则,设计了基于平方根容积卡尔曼滤波的目标状态与传感器系统偏差扩维联合估计算法(Augmented state squared-root cubature Kalman filter, ASSRCKF)。仿真分析表明,ASSRCKF不仅避免了扩维扩展卡尔曼滤波算法因模型线性化误差易导致滤波发散的问题,且克服了扩维不敏卡尔曼滤波算法在高维系统中数值不稳定的缺点,算法实时性好,能更加有效地解决带有系统误差的非线性状态估计问题。
中图分类号:
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