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考虑坐标耦合的三维变结构多模型机动目标跟踪方法

张宏伟 高志坚 张翊

张宏伟, 高志坚, 张翊. 考虑坐标耦合的三维变结构多模型机动目标跟踪方法[J]. 电子与信息学报. doi: 10.11999/JEIT231290
引用本文: 张宏伟, 高志坚, 张翊. 考虑坐标耦合的三维变结构多模型机动目标跟踪方法[J]. 电子与信息学报. doi: 10.11999/JEIT231290
ZHANG Hongwei, GAO Zhijian, ZHANG Yi. 3D Coordinate-coupled Variable Structure Multiple Model Estimator for Maneuvering Target Tracking[J]. Journal of Electronics & Information Technology. doi: 10.11999/JEIT231290
Citation: ZHANG Hongwei, GAO Zhijian, ZHANG Yi. 3D Coordinate-coupled Variable Structure Multiple Model Estimator for Maneuvering Target Tracking[J]. Journal of Electronics & Information Technology. doi: 10.11999/JEIT231290

考虑坐标耦合的三维变结构多模型机动目标跟踪方法

doi: 10.11999/JEIT231290
基金项目: 中山大学青年培育项目(20lgpy72),中国科学院空间精密测量重点实验室开放基金(SPMT2022001),广东省高等学校科技创新(重点)项目(2020ZDZX1054)
详细信息
    作者简介:

    张宏伟:女,讲师,博士,研究方向为目标跟踪、智能信息处理

    高志坚:男,硕士,实验师,研究方向为机器视觉、传感器网络等

    张翊:女,博士生, 研究方向为视觉目标跟踪等

    通讯作者:

    张宏伟 zhanghw69@mail.sysu.edu.cn

  • 中图分类号: TN953

3D Coordinate-coupled Variable Structure Multiple Model Estimator for Maneuvering Target Tracking

Funds: Sun Yat-sen University Youth Cultivation Project (20lgpy72), The Open Research Fund of CAS Key Laboratory of Space Precision Measurement Technology (SPMT2022001), The Key Project of DEGP (2020ZDZX1054)
  • 摘要: 在3维空间机动目标跟踪过程中,目标运动先验未知和坐标耦合误差会引起运动模型-模式失配,而模型-模式失配会引起状态估计有偏。该文根据目标运动速度正交条件修正状态转移矩阵,利用原始-对偶正则约束空间测量到球面可行域,结合自适应转弯率模型和无迹卡尔曼滤波(UKF),进行模型状态滤波并融合状态估计的一致输出,推导3维变结构多模型无迹卡尔曼滤波(VSMMUKF)算法。实验结果表明,相比多模重要性无迹卡尔曼滤波(MIUKF)算法,VSMMUKF计算量相当,能够更准确地拟合3维空间点目标机动运动。相比于交互多模型最大最小粒子滤波(IMM-MPF)算法,VSMMUKF跟踪固定翼无人机(UAV)的滤波精度提升了2.8%~59.9%,整体算法负担减小了1个数量级。
  • 图  1  3维坐标系下目标运动的速度正交几何关系

    图  2  点目标运动的航迹预测

    图  3  小型固定翼无人机试飞场景

    图  4  3种跟踪算法滤波性能比较

    表  1  表100轮蒙特卡罗实验统计滤波误差(均值、最大值及协方差)和实验运行时间

    算法 位置均方根误差 $ x $轴上滤波误差 $ y $轴上滤波误差 $ z $轴上滤波误差 运行时间 (s)
    均值 (m) 标准差 (m) 最大值 (m) 标准差 (m) 最大值 (m) 标准差 (m) 最大值 (m) 标准差 (m2)
    MIUKF 18.34 10.10 –25.41 10.19 27.28 10.70 17.04 5.42 1.36
    IMM-MPF 9.69 4.68 –14.05 4.94 16.63 6.06 8.36 2.18 16.05
    VSMUKF 3.88 2.05 –5.45 2.24 6.97 2.66 –5.11 2.12 5.93
    下载: 导出CSV
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出版历程
  • 收稿日期:  2023-11-21
  • 修回日期:  2024-04-17
  • 网络出版日期:  2024-05-13

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