一种基于粒子滤波的分布式跟踪算法  

A Decentralized Tracking Algorithm Based on Particle Filtering

作　　者：周建中[1] 王树宗[1] 

机构地区：[1]海军工程大学兵器工程系,武汉430033

出　　处：《武汉理工大学学报（交通科学与工程版）》2010年第5期924-927,932,共5页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：湖北省自然基金(批准号:2006ABA010);海军工程大学自然基金(批准号:HGDJJ015)资助

摘　　要：在多平台协同作战中,由于通信时间的延迟,常常出现各传感器量测不能按照正常时序发送到数据融合中心处理的情形.为解决协同作战系统无序量测的滤波问题,同时提高其目标跟踪的性能和降低系统的算法存储量,提出了一种Unscented粒子滤波算法.该算法估计精度高、计算量和存储量较小、输出无延迟.仿真结果表明,该算法同其他滤波算法相比,提高了跟踪精度,较好地解决了时间延迟的问题.In multiplatform cooperative engagement,sensor measurements cannot usually arrive at the fusion center according to detection time because of the delay for communicating time.To solve an outof-sequence measurements filtering problem,to improve the tracking performance and to reduce the computation cost,an unscented particle filtering algorithm was developed.The filter has higher estimation accuracy,fewer computation costs,fewer memory requirements,and no delayed output.Simulation results show that the algorithm has better tracking accuracy than other filter algorithms,which solves the problem to the time delaying.

关 键 词：协同作战系统 Unscented粒子滤波 无序观测 分布式跟踪 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]