采用平方根高斯核积分滤波的目标跟踪算法

汪家宝; 陈树新; 吴昊; 何仁珂; 徐涵

doi:10.7652/xjtuxb202204017

您当前的位置：

首页 >

文章列表页 >

采用平方根高斯核积分滤波的目标跟踪算法

更新时间：2025-07-09

- 采用平方根高斯核积分滤波的目标跟踪算法
- Target Tracking Algorithm Using Square-Root Gaussian Kernel Quadrature Filter
- 西安交通大学学报 2022年56卷第4期页码：157-164
- 作者机构：
  
  1. 空军工程大学信息与导航学院,西安,710077
  2. 地理信息工程国家重点实验室,西安,710054
  3. 93184部队,北京,100076
  4. 95655部队,成都,611530
- 作者简介：
  
  : 2021-08-05。作者简介: 汪家宝(1996—),男,硕士生
  吴昊(通信作者),男,讲师。基金项目: 国家自然科学基金资助项目(62073337)
- 基金信息：
  
  : 2021-08-05。作者简介: 汪家宝(1996—),男,硕士生;吴昊(通信作者),男,讲师。基金项目: 国家自然科学基金资助项目(62073337);陕西省自然科学基础研究计划资助项目(2020JQ-479)
- DOI：10.7652/xjtuxb202204017
  中图分类号： TP391
- 网络首发：2022-04-10，
  
  纸质出版：2022
- 稿件说明：
移动端阅览
汪家宝, 陈树新, 吴昊, 等. 采用平方根高斯核积分滤波的目标跟踪算法[J]. 西安交通大学学报, 2022,56(4):157-164.

WANG Jiabao, CHEN Shuxin, WU Hao, et al. Target Tracking Algorithm Using Square-Root Gaussian Kernel Quadrature Filter[J]. 2022, 56(4): 157-164.
汪家宝, 陈树新, 吴昊, 等. 采用平方根高斯核积分滤波的目标跟踪算法[J]. 西安交通大学学报, 2022,56(4):157-164. DOI： 10.7652/xjtuxb202204017.

WANG Jiabao, CHEN Shuxin, WU Hao, et al. Target Tracking Algorithm Using Square-Root Gaussian Kernel Quadrature Filter[J]. 2022, 56(4): 157-164. DOI： 10.7652/xjtuxb202204017.

摘要

为进一步提高目标跟踪精度

提出了一种新的平方根高斯核积分滤波算法(SGKQF)。选取比例因子重构高斯-厄米特积分点

利用高斯核构造的线性方程组计算相应权重

从而建立单变量高斯核积分规则; 采用张量积方法将其扩展到多变量积分规则

以实现对多维积分的数值近似; 将其引入非线性高斯递推滤波框架中

为增强算法的稳定性

在滤波过程中使用协方差的平方根形式

得到SGKQF算法。将所提算法应用于纯方位目标跟踪系统中

仿真结果表明

在选取合适高斯核带宽的条件下

相对于传统GHQF算法

SGKQF对目标位置和速度估计的精度分别提高了8.7%和11.8%

可获得更高的滤波估计精度。

Abstract

To further improve the accuracy of target tracking

a novel algorithm of square-root Gaussian kernel quadrature filter(SGKQF)is proposed. The scale factor is selected to reconstruct the Gauss-Hermite integral point in the algorithm

and the corresponding weight is calculated by linear equations formulated by the Gaussian kernel

thereby establishing the univariate Gaussian kernel quadrature rule; Subsequently

the tensor product method is used to extend the rule into multivariate quadrature rule by for the numerical approximation of multi-dimensional integrals; Finally

the multivariate quadrature rule is introduced into the framework of nonlinear Gaussian recursive filtering

and the SGKQF is obtained by implementing the square-root form of the covariance in the filtering process to enhance the stability. The proposed algorithm is applied to the bearings-only target tracking system to test its performance. The simulation result shows that

compared with traditional GHQF algorithm

SGKQF can achieve higher filter estimation accuracy under the condition of selecting appropriate Gaussian kernel bandwidth

with the improvement of estimation accuracy in position and velocity by 8.7% and 11.8% respectively.

关键词

Keywords

references

SUN Tao, XIN Ming. Bearings-only tracking using augmented ensemble Kalman filter [J]. IEEE Transactions on Control Systems Technology, 2020, 28(3): 1009-1016.

HE Renke, CHEN Shuxin, WU Hao, et al. Robust maneuver strategy of observer for bearings-only tracking [J]. Asian Journal of Control, 2019, 21(4): 1719-1731.

ZHANG Huilong, DUFOUR F, ANSELMI J, et al. Piecewise optimal trajectories of observer for bearings-only tracking by quantization [C]∥Proceedings of the 2017 20th International Conference on Information Fusion. Piscataway, NJ, USA: IEEE, 2017: 1-7.

CHEN Yuming, LI Wei, WANG Yuqiao. A robust adaptive indirect in-motion coarse alignment method for GPS/SINS integrated navigation system [J]. Measurement, 2021, 172: 108834.

LEONG P H, ARULAMPALAM S, LAMAHEWA T A, et al. A Gaussian-sum based cubature Kalman filter for bearings-only tracking [J]. IEEE Transactions on Aerospace and Electronic Systems, 2013, 49(2): 1161-1176.

LEONG P H, ARULAMPALAM S, LAMAHEWA T A, et al. Gaussian-sum cubature Kalman filter with improved robustness for bearings-only tracking [J]. IEEE Signal Processing Letters, 2014, 21(5): 513-517.

李兆铭, 杨文革, 丁丹, 等. 高阶球面单形-径向容积求积分卡尔曼滤波算法 [J]. 通信学报, 2017, 38(8): 111-117.

LI Zhaoming, YANG Wenge, DING Dan, et al. High-degree spherical simplex-radial cubature quadrature Kalman filter [J]. Journal on Communications, 2017, 38(8): 111-117.

QUINE B M. A derivative-free implementation of the extended Kalman filter [J]. Automatica, 2006, 42(11): 1927-1934.

JULIER S J, UHLMANN J K. Unscented filtering and nonlinear estimation [J]. Proceedings of the IEEE, 2004, 92(3): 401-422.

崔培林, 周翟和, 吕品, 等. 自适应误差四元数无迹卡尔曼滤波四旋翼飞行器姿态解算方法 [J]. 西安交通大学学报, 2019, 53(3): 97-102, 110.

CUI Peilin, ZHOU Zhaihe, LÜ Pin, et al. Adaptive error quaternion unscented Kalman filter algorithm for quadrotor attitude calculation [J]. Journal of Xi'an Jiaotong University, 2019, 53(3): 97-102, 110.

ARASARATNAM I, HAYKIN S, ELLIOTT R J. Discrete-time nonlinear filtering algorithms using Gauss-Hermite quadrature [J]. Proceedings of the IEEE, 2007, 95(5): 953-977.

巫春玲, 韩崇昭. 求积分卡尔曼粒子滤波算法 [J]. 西安交通大学学报, 2009, 43(2): 25-28, 42.

WU Chunling, HAN Chongzhao. Quadrature Kalman particle filter [J]. Journal of Xi'an Jiaotong University, 2009, 43(2): 25-28, 42.

ARASARATNAM I, HAYKIN S. Cubature Kalman filters [J]. IEEE Transactions on Automatic Control, 2009, 54(6): 1254-1269.

秦康, 董新民, 陈勇, 等. 基于Huber的鲁棒广义高阶容积卡尔曼滤波算法 [J]. 控制与决策, 2018, 33(1): 88-94.

QIN Kang, DONG Xinmin, CHEN Yong, et al. Huber-based robust generalized high-degree cubature Kalman filter [J]. Control and Decision, 2018, 33(1): 88-94.

张龙, 崔乃刚, 杨峰, 等. 高阶容积卡尔曼滤波及其在目标跟踪中的应用 [J]. 哈尔滨工程大学学报, 2016, 37(4): 573-578.

ZHANG Long, CUI Naigang, YANG Feng, et al. High-degree cubature Kalman filter and its application in target tracking [J]. Journal of Harbin Engineering University, 2016, 37(4): 573-578.

WANG Shiyuan, FENG Jiuchao, TSE C K. Spherical simplex-radial cubature Kalman filter [J]. IEEE Signal Processing Letters, 2014, 21(1): 43-46.

BHAUMIK S, SWATI. Cubature quadrature Kalman filter [J]. IET Signal Processing, 2013, 7(7): 533-541.

KARVONEN T, SÄRKKÄ S. Gaussian kernel quadrature at scaled Gauss-Hermite nodes [J]. BIT Numerical Mathematics, 2019, 59(4): 877-902.

VAN DER MERWE R, WAN E a. The square-root unscented Kalman filter for state and parameter-estimation [C]∥Proceedings of the 2001 IEEE International Conference on Acoustics, Speech, and Signal Processing. Piscataway, NJ, USA: IEEE, 2001: 3461-3464.

巫春玲, 韩崇昭. 基于平方根求积卡尔曼滤波器的弹道目标跟踪 [J]. 控制与决策, 2010, 25(5): 721-724, 729.

WU Chunling, HAN Chongzhao. Tracking ballistic target based on square root quadrature Kalman filter [J]. Control and Decision, 2010, 25(5): 721-724, 729.

DUAN Jianmin, SHI Hui, LIU Dan, et al. Square root cubature Kalman filter-Kalman filter algorithm for intelligent vehicle position estimate [J]. Procedia Engineering, 2016, 137: 267-276.

JIA Bin, XIN Ming, CHENG Yang. Sparse Gauss-Hermite quadrature filter with application to spacecraft attitude estimation [J]. Journal of Guidance, Control, and Dynamics, 2011, 34(2): 367-379.

CHEN Badong, LIU Xi, ZHAO Haiquan, et al. Maximum correntropy Kalman filter [J]. Automatica, 2017, 76: 70-77.

姜浩楠, 蔡远利. 鲁棒高斯和集合卡尔曼滤波及其在纯角度跟踪中的应用 [J]. 控制理论与应用, 2018, 35(2): 129-136.

JIANG Haonan, CAI Yuanli. Robust Gaussian-sum ensemble Kalman filter and its application in bearings-only tracking [J]. Control Theory Applications, 2018, 35(2): 129-136.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

多源二维测角信息的三维动态目标跟踪定位算法

一般相关噪声下线性系统定区间平滑估计算法

一种基于角度测量估计飞行目标运动参数的新方法

利用角度测量估计机动目标运动参数的方法

阈值去噪下的改进粒子滤波算法