| 无迹卡尔曼滤波及其在三维水下目标跟踪系统中的应用 |
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| 引用本文： | 高剑,徐德民,严卫生,张福斌.无迹卡尔曼滤波及其在三维水下目标跟踪系统中的应用[J].船舶工程,2005,27(3):24-28. |
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| 作者姓名： | 高剑 徐德民 严卫生 张福斌 |
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| 作者单位： | 西北工业大学,航海学院,西安,710072;西北工业大学,航海学院,西安,710072;西北工业大学,航海学院,西安,710072;西北工业大学,航海学院,西安,710072 |
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| 摘 要： | 无迹卡尔曼滤波算法(UFK)以少量的采样点表示随机变量的分布，通过非线性系统传播，能以三阶精度获得非线性变换的均值和协方差的估计．文章将其应用于三维水下目标跟踪系统中．通过系统的Mome Carlo仿真，验证了该滤波算法比传统的扩展卡尔曼滤波具有更高的滤波精度．
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| 关 键 词： | 工程测量技术 水下目标跟踪 无迹卡尔曼滤波 |
| 文章编号： | 1000-6982(2005)03-0024-05 |
| 修稿时间： | 2004年9月27日 |
UKF and Its Application to 3-D Underwater Target Tracking System |
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| GAO Jian,XU De-min,YAN Wei-sheng,Zhang Fu-bin.UKF and Its Application to 3-D Underwater Target Tracking System[J].Ship Engineering,2005,27(3):24-28. |
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| Authors: | GAO Jian XU De-min YAN Wei-sheng Zhang Fu-bin |
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| Abstract: | This paper introduces the newly proposed unscented Kalman filter (UKF). In UKF, a minimal set of carefully chosen sample points is used to represent random variables distribution. And when propagated through the true nonlinear system, these sample pointes capture the mean and covariance accurately to the 3rd order for nonlinear transformation. In this paper, UKF is applied to a 3-D underwater target tracking system. The Monte Carlo simulation demonstrates that the UKF has higher filtering accuracy than conventional extended Kalman filter. |
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| Keywords: | engineering measurement technique underwater target tracking unscented Kalman filter |
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