A modified adaptive Kalman filtering method for maneuvering target tracking of unmanned surface vehicles

Fan Y.; Qiao S.; Wang G.Chen S.Zhang H.

首页> 外文期刊>Ocean engineering >A modified adaptive Kalman filtering method for maneuvering target tracking of unmanned surface vehicles

【24h】

A modified adaptive Kalman filtering method for maneuvering target tracking of unmanned surface vehicles

机译：A modified adaptive Kalman filtering method for maneuvering target tracking of unmanned surface vehicles

获取原文

获取原文并翻译 | 示例

掌桥外文数据库（机构版） >>

开具论文收录证明 >>

文献代查 >>

页面导航

摘要
著录项
相关主题

摘要

? 2022 Elsevier LtdThe filtering methods are crucial for an unmanned surface vehicle (USV) to realize target tracking. Due to the poor observation caused by the strong vibration during the navigation of the USV, the target tracking accuracy of the traditional filtering method has been significantly degraded. A modified strong tracking-based expended Sage-Husa adaptive robust Kalman filter (MST-ESHARKF) algorithm is proposed to overcome this problem in this paper. In the proposed algorithm, a modified fading factor for the strong tracking Kalman filter is introduced to eliminate disturbance-induced filter divergence. In addition, the adaptive factor of robust Kalman filtering is designed to balance the predicted and observed states dedicated to improving the robustness of the algorithm. Finally, the biased and unbiased estimators for measurement and process noise covariances are merged, and the measurement noise covariance matrix's interval is constrained, resulting in a simultaneous evaluation of measurement and process noise covariance matrices with improved dependability of the proposed algorithm. The simulation and experiment results show that the proposed MST-ESHARKF outperforms the existing filters in target tracking.

著录项

来源
《Ocean engineering》 |2022年第3期|112890.1-112890.11|共11页
作者
Fan Y.; Qiao S.; Wang G.Chen S.Zhang H.;
展开▼
作者单位

College of Marine Electrical Engineering Dalian Maritime UniversityCollege of Marine Electrical Engineering Dalian Maritime University||Key Laboratory of Technology and System for Intelligent Ships of Liaoning Province;

||College of Marine Electrical Engineering Dalian Maritime University;

College of Marine Electrical Engineering Dalian Maritime University||Key Laboratory of Technology and System for Intelligent Ships of Liaoning Province;

展开▼
收录信息
原文格式 PDF
正文语种英语
中图分类
关键词
Adaptive Kalman filter; Position; Radar; Target tracking; Unmanned surface vehicle; Velocity;

A modified adaptive Kalman filtering method for maneuvering target tracking of unmanned surface vehicles

摘要

著录项

相关主题

期刊订阅