1. 山西大学物理电子工程学院
2. 山西大学大数据科学与产业研究院
纸质出版:2023
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董宇, 逯暄, 彭甫镕, 等. 一种鲁棒的β扩展卡尔曼滤波算法[J]. 传感器与微系统, 2023,(3):152-155+163.
董宇, 逯暄, 彭甫镕, 等. 一种鲁棒的β扩展卡尔曼滤波算法[J]. 传感器与微系统, 2023,(3):152-155+163. DOI: 10.13873/J.1000-9787(2023)03-0152-04.
近年来针对非线性运动目标跟踪问题,多种卡尔曼滤波(KF)改进算法通过近似非线性函数的输出、均值和方差等方法提高对非线性运动的适应性。然而,现有改进算法过度追求对非线性运动的适应性,容易受到噪声干扰、产生过度拟合,为此,从误差上界约束的角度提出了一种鲁棒的β扩展KF(β-EKF)算法。在利用泰勒近似非线性函数输出的基础上,提出对估计观测值与实际观测值的误差进行鲁棒性阈值控制,实现对目标状态估值的自适应修正,不仅能提高模型对噪声的鲁棒性,而且能提高状态修正的准确性。通过超宽带(UWB)室内定位仿真系统对算法性能进行验证,结果表明:相较于EKF、自适应渐消有偏EKF(AFEKF)、无迹KF(UKF)等算法,本文算法在非线性运动目标上能获得更鲁棒的跟踪结果,且算法的平均性能有26%的提升。
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