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題 名 | The Adaptive Kalman Filter Algorithms for Real-Time Target Tracking=適應式卡曼濾波器應用於即時目標追蹤之系統研究 |
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作 者 | 王修平; 龔明覺; 林永燦; | 書刊名 | 中正嶺學報 |
卷 期 | 23:1 1994.07[民83.07] |
頁 次 | 頁55-61 |
分類號 | 448.533 |
關鍵詞 | 目標追蹤理論; 卡曼濾波器; 適應式濾波; 狀態估測; 隨機系統; Target tracking algorithms; Kalman filter; Adaptive filtering; State estimation; Stochastic systems; |
語 文 | 英文(English) |
中文摘要 | 在本文中,證明了傳統卡曼濾波器因為無法適時地反應目標之戰術脫 逃,其即時目標追蹤誤差較大。而利用適應式卡曼濾波器,可將此較大誤差值大 量地降低。因為原來傑氏(Jazwin-ski)理論無法直接應用於即時目標追蹤系統上, 故須做些改良。本文提出一改良型傑氏適應式Q卡曼濾波器,同時亦採用庫氏 (Kumar)適應式Q卡曼濾波器以作比較。模擬結果顯示,除了目標作高度戰術運 動時以外,改良型傑氏適應式Q卡曼濾波器之性能均較庫氏佳。 |
英文摘要 | The conventional Kalman filter may induce large tracking error while applied to the real timetarget tracking. Because the Filter can not adapt the target maneuvering. This large tracking error canbe dramatically reduced by using adaptive Q Kalman filter. In this paper, we make a modification forthe Jazwinski's adaptive Q filter since the original Jazwinski's adaptive Q filter can not directly applyto the real time target tracking system. The Kumar's adaptive Q filter is also adopted for comparison.The simulated results show that the performance of the modified Jazwinski's adaptive Q filter is superiorto that of the Kumar's adaptive Q filter except in high maneuver case. |
本系統中英文摘要資訊取自各篇刊載內容。