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题名: Tracking an Underwater Maneuvering Target Using an Adaptive Kalman Filter
作者: Li W(李为) ; Li YP(李一平) ; Ren SZ(任申真) ; Feng XS(封锡盛)
作者部门: 水下机器人研究室
会议名称: 2013 IEEE TENCON
会议日期: October 22-25, 2013
会议地点: Xi'an, China
会议录: 2013 IEEE TENCON
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2013
页码: 1-4
收录类别: CPCI(ISTP) ; EI
关键词: underwater target ; maneuver ; tracking ; adaptive Kalman filter ; active sonar
摘要: To improve the tracking accuracy of an underwater maneuvering target, according to its characteristics of low speed and weak maneuvering performance, an adaptive Kalman filter is given based on the online estimation of the process noise variance. As the main filter analyzes the target motion, the process noise variance of the main filter is estimated by an auxiliary filter for being adaptively adjusted according to the target maneuvering intensity to improve the target tracking accuracy for uniform motions, as well as improving response speed of the filter for maneuvering behavior of the target. Simulation results show that the proposed algorithm performs well, which, to a certain extent, effectively improves the tracking accuracy of an underwater maneuvering target.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/13859
Appears in Collections:水下机器人研究室_会议论文

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