Tracking with nonlinear measurement model by coordinate rotation transformation

被引：0
作者：
ZENG Tao [1 ]
LI Chun Xia [1 ]
LIU Quan Hua [1 ]
CHEN Xin Liang [1 ]
机构：
[1] School of Information and Electronics,Beijing Institute of Technology
来源：
Science China(Technological Sciences) | 2014年 / 12期
基金：
中国国家自然科学基金;
关键词：
target tracking; Kalman filtering; nonlinear filtering; decoupled; nonlinearity;
D O I：
暂无
中图分类号：
TN713 [滤波技术、滤波器];
学科分类号：
080902 ;
摘要：
A new filtering method is proposed to accurately estimate target state via decreasing the nonlinearity between radar polar measurements(or spherical measurements in three-dimensional(3D) radar) and target position in Cartesian coordinate. The degree of linearity is quantified here by utilizing correlation coefficient and Taylor series expansion. With the proposed method, the original measurements are converted from polar or spherical coordinate to a carefully chosen Cartesian coordinate system that is obtained by coordinate rotation transformation to maximize the linearity degree of the conversion function from polar/spherical to Cartesian coordinate. Then the target state is filtered along each axis of the chosen Cartesian coordinate. This method is compared with extended Kalman filter(EKF), Converted Measurement Kalman filter(CMKF), unscented Kalman filter(UKF) as well as Decoupled Converted Measurement Kalman filter(DECMKF). This new method provides highly accurate position and velocity with consistent estimation.
引用
收藏
页码：2396 / 2406
页数：11
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