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首页> 外文期刊>IEEE Transactions on Aerospace and Electronic Systems >Improved Kalman filter design for three-dimensional radar tracking
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Improved Kalman filter design for three-dimensional radar tracking

机译：改进的卡尔曼滤波器设计，用于三维雷达跟踪

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摘要

The problem of three-dimensional (3D) radar tracking is considered. The usual tracking filter design relying on first-order (or linear) approximations leads to poor convergence and erratic filter behavior in highly nonlinear situations. Simple filter algorithms that can overcome these ill effects are developed for two different types of 3D radar measurement. For each type of radar measurement, an accurate expression for the measurement covariance is obtained by evaluating inherent nonlinearities of radar measurements via coordinate transformation. Then algebraic manipulations and reasonable approximations are employed to yield a simple filter formulation based on the expression. The resulting filter equations are similar to the extended Kalman filter (EKF) and provide some useful insights into the behavior of linearized Kalman filters designed with radar measurements. Finally, simulation results show that the proposed approach is very effective in accounting for the measurement nonlinearities
机译：考虑了三维（3D）雷达跟踪的问题。通常的跟踪滤波器设计依赖于一阶（或线性）逼近，在高度非线性的情况下会导致收敛性差和滤波器行为不稳定。针对两种不同类型的3D雷达测量，开发了可以克服这些不良影响的简单滤波器算法。对于每种类型的雷达测量，都可以通过坐标变换评估雷达测量的固有非线性来获得测量协方差的精确表达式。然后，采用代数运算和合理的近似值来生成基于表达式的简单过滤器公式。所得的滤波器方程式类似于扩展的卡尔曼滤波器（EKF），并为使用雷达测量设计的线性化卡尔曼滤波器的性能提供了一些有用的见解。最后，仿真结果表明，该方法在解决测量非线性方面非常有效。

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