CAJ | 학술논문

概述了车辆的磁场跟踪方案，并说明了在这些方案中运用非线性滤波算法的优点以及存在的问题。描述使用非线性滤波算法的“双传感器”方案和梯度计方案的原理和模型，并提出了一种Euler反演法与Kalman算法结合的梯度张量方案。使用了非线性滤波的Cramer-Rao下限分析并比较了这几种方案的性能。最后给出了方案的仿真结果。这几种方案均能实现对车辆的跟踪，其中梯度张量方案在磁矩估计上有明显的性能优势。
개술료차량적자장근종방안，병설명료재저사방안중운용비선성려파산법적우점이급존재적문제。묘술사용비선성려파산법적“쌍전감기”방안화제도계방안적원리화모형，병제출료일충Euler반연법여Kalman산법결합적제도장량방안。사용료비선성려파적Cramer-Rao하한분석병비교료저궤충방안적성능。최후급출료방안적방진결과。저궤충방안균능실현대차량적근종，기중제도장량방안재자구고계상유명현적성능우세。
This article first summarizes the estimation and tracking method of vehicles magnetic field,and illustrates the advantages and existing problems to use non-linear filtering algorithms. Second,the principles and models of two methods,the“Two sensors”method and the " Gradiometer" method, in which nonlinear filtering algorithm is applied, are described. What's more, a“Gradient tensor”method combined the Euler inversion with Kalman algorithm is proposed. The Cramer-Rao Bounds of nonlinear filtering algorithm is used to analyze and compare the performance of these methods mentioned above. At last,simulation results are carefully demonstrated and show that all these methods have the ability to estimate and track a vehicle. However,the“Gradient tensor”method performs much better than other methods in terms of the estimation of magnetic moment.