含预测和容错的自适应Kalman目标跟踪  

Adaptive Kalman filter combined with prediction and fault tolerance for target tracking

作　　者：戴洪德[1,2] 邹杰[2] 徐胜红[1] 王永庭[2] 吴晓男[1] 吴光彬[1] 

机构地区：[1]海军航空工程学院控制工程系,山东烟台264001 [2]光电控制技术重点实验室,河南洛阳471009

出　　处：《南京理工大学学报》2015年第1期108-114,共7页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金(61203168);航空科学基金(20135184007)

摘　　要：针对模型不准确时,传统Kalman滤波目标跟踪算法精度有限甚至发散的问题,研究了基于新息协方差在线匹配技术的自适应Kalman滤波算法,提高跟踪精度;并以Kalman滤波估计的目标位置为基础,利用一步Kalman预测得到下一时刻目标可能的位置范围,避免对整幅后帧图像进行遍历搜索,减小了计算量;为了避免存在干扰时异常量测对目标跟踪的影响,研究了量测信息异常检测算法,以Kalman预测的量测代替异常量测,增强抗干扰能力。实验证明,所提算法能够有效提高目标跟踪的精度和鲁棒性。An adaptive Kalman filter,based on the online matching of innovation covariance,is presented to overcome the problem of accuracy degrade or even divergence when there exists tremendous modeling errors and to improve the accuracy of target tracking. The area where the target may appear at the next epoch is predicted by one-step Kalman predictor,based the position of the target estimated by Kalman filter at present to avoide searching the whole image to find the target and to reduce the calculation burden. Abnormal measurement detection is also studied and the abnormal measurements are replaced by the Kaman predicted measurement,to avoid the disturbance caused by the abnormal measurement and to increase the anti-interference ability. Experimental results showthat the accuracy and robustness of target tracking can be improved by the algorithm presented here.

关 键 词：目标跟踪 KALMAN滤波 自适应 预测 估计 容错 抗干扰 在线匹配 新息协方差 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]