Constrained target tracking based on moving horizon estimation
This paper introduces the moving Horizon Estimation (MHE) using online optimization scheme for moving target tracking problem with physical constraints. The proposed method transforms the constrained target tracking problem into constrained optimal state estimation with finite horizon. The computation burden of MHE is reduced by introducing the arrive cost. At the end of this paper, the Monte Carlo simulation of moving target tracking using MHE is given. The simulation results show that MHE can not only solve the actual constrained moving target tracking, but also increase the tracking accuracy, and have a better effect than Kalman filter.
moving horizon estimation target tracking physical constraints
WEI Shanbi YANG Hongwei CHAI Yi
College of Automation, Chongqing University, Chongqing 400030, China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
291-295
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）