Open AccessAn Improved Unscented Kalman Filter for Maneuvering Target Tracking*
Author(s) -
Xiaoyou He,
Yu Su,
Yuhe Qiu
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2216/1/012010
Subject(s) - kalman filter , control theory (sociology) , computer science , tracking (education) , constraint (computer aided design) , extended kalman filter , invariant extended kalman filter , unscented transform , acceleration , cartesian coordinate system , state vector , fast kalman filter , filter (signal processing) , nonlinear system , computer vision , artificial intelligence , mathematics , physics , psychology , pedagogy , quantum mechanics , geometry , control (management) , classical mechanics
The photoelectric pod provides angular information and distance information for the UAV (Unmanned Aerial Vehicle), and the UAV uses it to estimate the status information of the moving target. Since the measurement information of the photoelectric pod is the angle of sight and relative distance, the measurement equation contains some nonlinear functions in the Cartesian coordinate system, and the output frequency of the photoelectric pod is low. The improved unscented Kalman filter combines the function of prediction and correction, introduces the prior information of the target acceleration constraint, and uses the offline data to obtain steady gain, and then estimates the target state online. The simulation result show that the algorithm can track the target and need less time compared with the traditional unscented Kalman filter.