CAJ | 학술논문

针对非线性系统噪声未知时粒子滤波容易发散或者精度下降的问题，提出一种粒子滤波和改进的Sage－Husa估计器相结合的混合滤波算法。首先用粒子滤波对系统状态进行初步估计，将初步估计值作为次级Sage－Husa滤波器的输入量测值，并与系统状态方程组成新的系统，进而用改进的Sage－Husa算法实时估计系统噪声的统计特性并进行滤波，得到最终的系统状态估计值；为了进一步比较算法的性能，对算法的复杂度进行了定量计算，分析表明优化的算法并未明显提高算法的计算量；最后通过目标跟踪仿真实验验证了算法的有效性。
침대비선성계통조성미지시입자려파용역발산혹자정도하강적문제，제출일충입자려파화개진적Sage－Husa고계기상결합적혼합려파산법。수선용입자려파대계통상태진행초보고계，장초보고계치작위차급Sage－Husa려파기적수입량측치，병여계통상태방정조성신적계통，진이용개진적Sage－Husa산법실시고계계통조성적통계특성병진행려파，득도최종적계통상태고계치；위료진일보비교산법적성능，대산법적복잡도진행료정량계산，분석표명우화적산법병미명현제고산법적계산량；최후통과목표근종방진실험험증료산법적유효성。
To solve the filtering accuracy reduction and divergence problems in the nonlinear system when the noise characteristics are unknown ,a hybrid filter composed of Sage-Husa filter and particle filter is proposed .Firstly,a preliminary estimate of the state variables is provided by particle filter ,which is then taken as the input measurement value of the secondary filter ,and forms a new system with the state equation.After that,the modified Sage-Husa filter is used for estimating the statistic property of system noise in real time,and the final system state estimated value is obtained .The calculation complexity of the algorithms is calculated out quantitatively to compare the algorithms'performance further,the result shows that the calculation complexity keeps unchanged in new algorithm .Finally,target tracking simulation results demonstrated the availability of the new algorithm .