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Nonlinear system target tracking method based on distributed volume information filtering

A volumetric information filtering and nonlinear system technology, applied in the field of target tracking, can solve problems related to noise

Inactive Publication Date: 2013-04-24
HANGZHOU DIANZI UNIV
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Problems solved by technology

[0004] In order to solve the noise-related situation, the present invention proposes a target tracking method based on distributed volumetric Kalman information filtering for nonlinear systems.

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Embodiment Construction

[0087] The implementation flow chart of the present invention is as figure 1 As shown, the specific implementation is as follows:

[0088] In order to solve the noise-related situation, the present invention proposes a distributed volume information filter (DSCIF-CN) design method under noise-related conditions. In order to describe the content of the present invention conveniently, at first the present invention establishes a model for the multi-sensor target system, including 2 equations, state equation and observation equation, respectively as follows:

[0089] x k =f k-1 (x k-1 )+w k,k-1 (1)

[0090] z i，k = h i,k (x k )+v i，k (2)

[0091] Among them, k is the time index and i(i=1,2,...,N) represents the i-th sensor; x k ∈R n×1 is the system state vector, Indicates the i-th observation vector; f k-1 :R n×1 →R n×1 , are known nonlinear equations; the process noise w k，k-1 and observation noise v i，k Both are Gaussian white noise with zero mean, ...

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Abstract

The invention belongs to the field of target tracking and mainly relates to a target tracking nonlinear system target tracking method based on distributed volume information filtering. The existing volume Kalman nonlinear system target tracking method is achieved on the premise that premise noise and measurement noise are not relevant and each measurement noise is not relevant, so that using scope of the volume Kalman nonlinear system target tracking method is greatly limited. The target tracking nonlinear system target tracking method deduces noise related expanding Kalman information filtering, volume Kalman information filtering is embedded in a time updating process and a measurement updating process, a noise relevant problem is solved, and practical applicability of the method is greatly strengthened. In addition, the method is based on decentralization, a theory of matrix diagonalization is used, dimensionality of a matrix is reduced to great extent, and dimensionality curses caused by high dimensions are avoided.

Description

technical field [0001] The invention belongs to the field of target tracking, and mainly relates to a target tracking method for a nonlinear system based on distributed volume information filtering. Background technique [0002] Multi-sensor target tracking is a multi-disciplinary technology. In recent years, with the development of sensor technology, computer technology, communication technology and information processing technology, especially the urgent needs of the military, the research content of multi-sensor target tracking technology has become increasingly in-depth and extensive. In the military, it is mainly used in command, control, communication and intelligence systems, and it also has important application value in the fields of robotics and civil aviation control. At present, there are many better algorithms for target tracking, such as Kalman filter algorithm (KF), unscented Kalman filter algorithm (UKF), volumetric Kalman filter algorithm (CKF), etc. Howeve...

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Application Information

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IPC IPC(8): G06F19/00
Inventor 葛泉波许大星文成林骆光州
Owner HANGZHOU DIANZI UNIV
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