基于改进扩展卡尔曼滤波算法的静电目标跟踪  

Electrostatic Target Tracking Based on Improved Extended Kalman Filter

作　　者：付巍[1,2] 崔占忠[1] 

机构地区：[1]北京理工大学机电学院,北京100081 [2]中北大学信息与通信工程学院,太原030051

出　　处：《光电工程》2009年第7期24-27,共4页Opto-Electronic Engineering

基　　金：机电工程与控制国家重点实验室项目(9140c3601130801)

摘　　要：针对静电探测的数学模型结构复杂、强非线性以及实验测量数据存在极大不确定性的特点和Extended Kalman Filter(EKF)在处理强非线性的测量方程时会出现滤波发散的现象。为了提高滤波精度和减少计算复杂度,采用中心差分的方法计算EKF中的非线性函数的一阶导数,并结合球形静电探测器实际探测的特点形成一种新的改进的EKF算法。将改进后的EKF应用于静电目标的跟踪,建立目标跟踪滤波器。理论分析和仿真表明,采用改进后的EKF与EKF和Unscented Kalman Filter(UKF)相比较,虽然计算时间比EKF稍有增加,但比UKF的计算时间少;而计算精度比EKF有显著提高,与UKF的计算精度相当。Electrostatic target tracking is highly complex and strongly nonlinear and the experimental data are incomplete and uncertain. In order to improve filtering accuracy and reduce computational complexity, a central difference method was applied to Extended Kalman Filter （EKF） for calculating the nonlinear function and a new improved EKF algorithm was formed based on the characteristics of the spherical electrostatic probe. The improved EKF was applied to electrostatic detection tracking. Theoretical analysis and simulation experiment show that, compared with EKF and Unscented Kalman Filter （UKF）, although calculation time of the improved EKF is slightly longer than that of EKF, it is less than that of UKF. Moreover, the tracking accuracy of the improved EKF is significantly higher than that of EKF, and is nearly the same with that of UKF.

关 键 词：静电目标跟踪 改进的EKF UKF 静电探测 

分 类 号：TN911.23[电子电信—通信与信息系统]