基于无气味卡尔曼和粒子滤波的对称测量方程多目标跟踪

W. F. Leven, A. Lanterman
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引用次数: 26

摘要

利用无气味卡尔曼滤波和粒子滤波重新研究了多目标跟踪的对称测量方程方法。将这些滤波器的特性和性能与基于扩展卡尔曼滤波器的原始对称测量方程实现进行了比较。提出并解释了两组对称测量方程的反直觉结果,包括以前未知的无气味卡尔曼滤波器的限制。本文指出,SME方法的性能取决于SME方程集和所使用的滤波器的相互作用。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Multiple target tracking with symmetric measurement equations using unscented Kalman and particle filters
The symmetric measurement equation approach to multiple target tracking is revisited using unscented Kalman and particle filters. The characteristics and performance of these filters are compared to the original symmetric measurement equation implementation relying upon an extended Kalman filter. Counter-intuitive results are presented and explained for two sets of symmetric measurement equations, including a previously unknown limitation of the unscented Kalman filter. The point is made that the performance of the SME approach is dependent on the interaction of the set of SME equations and the filter used.
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