A Method to Overcome Divergence of Radar Extended Kalman Track Filter

Abstract

The method for overcoming radar extended Kalman track filter divergence disclosed by the present invention comprises: carrying out system modeling according to the conventional extended Kalman filter method; assuming that the state of track filter k moment is X(k|k), and the covariance matrix is P(k|k); One-step prediction of the state at time k to obtain the predicted state and prediction covariance matrix at time k+1; use the correction matrix or correction coefficient to perform anti-divergence processing on the prediction covariance matrix to obtain the corrected prediction covariance Variance matrix: Update the predicted state through the measurement value of the radar detection target system at k+1 time, calculate the innovation vector, innovation covariance matrix and Kalman gain matrix, and replace the original one with the revised prediction covariance matrix in the calculation process Predict the covariance matrix; calculate the target state and covariance matrix at time k+1. The invention corrects the filter output trend, improves the accuracy of the filter result, and effectively overcomes the divergence in the track filter.

Description

technical field [0001] The invention relates to the technical field of Kalman track filter data processing, in particular to a method for overcoming the divergence of radar extended Kalman track filter. Background technique [0002] Track filtering is an important part of the radar data processing algorithm, which can filter the radar detection points to form a continuous track output, effectively improving the accuracy of radar target detection and tracking. The extended Kalman filter is the most commonly used track filtering algorithm. The conventional extended Kalman filter algorithm realizes the optimal estimation of the system state by establishing the system state equation and combining the actual observation data of the system. [0003] Problems and shortcomings of current technology: [0004] 1) In the field of radar air-to-air detection, especially in military scenarios, the detection target is often a high-speed, high-maneuvering target, and conventional target mo...

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Problems solved by technology

[0008] Purpose of the invention: In order to solve the problem that the target motion equation model in the radar track filter cannot accurately describe the target motion characteristics for a long time, resulting in the divergence of the target filter track, the present invention provides a method for overcoming the divergence of the radar extended Kalman track filter. Correct the filtering output trend, improve the accuracy of filtering results, and overcome the divergence that may occur in track filtering

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