Research on SR_UPF Ground Moving Target Tracking Algorithm Using Road Information

摘要：

A kind of tracking algorithm using square root unscented particle filter is proposed to solve nonlinear problem caused by maneuverability of target and low measurement update rate in ground moving target tracking. Unscented transform is used to transfer state estimation and covariance matrix, where the covariance matrix has been extracted. From this, importance sampling used in particle filter can be gained. Then, the state estimation which is obtained through particle filter is projected to road according to road information if it is off road. Using one ground moving target indication sensor to track a target on road, simulation results show that the proposed algorithm can effectively solve nonlinear problem in ground moving target tracking. Compared with the conventional particle filter algorithm, the proposed algorithm not only advances the tracking precision, also reduces the needed number of particles which mean less run time will be taken. Another way, tracking performance can be further improved due to using of road information.

关键词： ground moving target target tracking SR_UPF algorithm road information state estimate processing

作者: Gao Caicai Chen Wei

作者单位: School of Electronics and Information Engineering, Beihang University Beijing 100191, China

会议类型: 国际会议

会议名称: 2010 IEEE 10th International Conference on Signal Processing(第十届信号处理国际会议 ICSP 2010)

会议地点: 北京

会议语种:英文

页码: 1259-1262

在线出版日期: 2010-08-24（万方平台首次上网日期，不代表论文的发表时间）