太赫兹科学与电子信息学报
太赫玆科學與電子信息學報
태혁자과학여전자신식학보
Information and Electronic Engineering
2014年
2期
256-259
,共4页
目标跟踪%野值%Kalman滤波%新息
目標跟蹤%野值%Kalman濾波%新息
목표근종%야치%Kalman려파%신식
target tracking%outlier%Kalman filter%innovation
运用 Kalman滤波对目标位置进行跟踪时，测量数据中的野值是影响滤波效果的重要因素之一。分析了动态测量数据中野值产生的原因和野值对 Kalman滤波性能的影响机理，利用新息的统计特性，提出了野值判别准则和一种抗野值 Kalman滤波算法。仿真结果表明，该方法使野值处理与状态估计同步进行，可有效抑制野值对 Kalman滤波的影响，提高滤波精确度。
運用 Kalman濾波對目標位置進行跟蹤時，測量數據中的野值是影響濾波效果的重要因素之一。分析瞭動態測量數據中野值產生的原因和野值對 Kalman濾波性能的影響機理，利用新息的統計特性，提齣瞭野值判彆準則和一種抗野值 Kalman濾波算法。倣真結果錶明，該方法使野值處理與狀態估計同步進行，可有效抑製野值對 Kalman濾波的影響，提高濾波精確度。
운용 Kalman려파대목표위치진행근종시，측량수거중적야치시영향려파효과적중요인소지일。분석료동태측량수거중야치산생적원인화야치대 Kalman려파성능적영향궤리，이용신식적통계특성，제출료야치판별준칙화일충항야치 Kalman려파산법。방진결과표명，해방법사야치처리여상태고계동보진행，가유효억제야치대 Kalman려파적영향，제고려파정학도。
When Kalman filter is applied to target tracking, the outliers in dynamic measurement data are one of the important factors which affect filtering performance. The reasons and characteristics of outliers emerging in the dynamic measurement data are analyzed, as well as the mechanism that outliers affect Kalman filter. Based on the statistical characteristics of innovation, the method of dynamically identifying outliers and anti-outlier Kalman filter algorithm are presented. The simulation results demonstrate that the method can eliminate outliers and estimate states simultaneously, and it can effectively eliminate the negative effect of the outlier on the filter, and improve the filter accuracy.
