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Alternative TitleA decoupled interacting multiple model algorithm with unbiased 3D converted measurements based on modified weighted matrix
李为; 李一平; 封锡盛
Source Publication机器人
Volume37Issue:2Pages:237-245, 253
Indexed ByEI ; CSCD
EI Accession number20152300924827
Contribution Rank1
Funding Organization中国科学院科技创新重点部署项目(KGFZD-125-014) ; 基本科研业务费资助项目(B1320133015) ; 国家自然科学基金资助项目(61273334) ; 辽宁省自然科学基金资助项目(2011010025-401)
Keyword量测转换 解耦 卡尔曼滤波预测量 交互式多模型算法 正规变换
Other AbstractIn order to solve the problem of mutual influence among the estimations of each coordinate caused by the canonical transform used for decoupling high-dimensional coupled kinematic state models in maneuvering targets tracking applications, an improved decoupling method is presented. At first, explicit expressions for unbiased compensation coefficients and unbiased covariance statistics based on Kalman filter predictions related to the 3D measurements are given. And then, based on the canonical transform, an improved decoupling method using the modified weighted matrix is presented in detail. At last, simulation experiments are conducted combining with the IMM (interacting multiple model) algorithm. Results indicate that the proposed algorithm can reduce computational burden and eliminate influences among three Cartesian coordinates, which is good for analysis and application of IMM algorithm.
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
李为,李一平,封锡盛. 基于修正加权矩阵的3维解耦无偏量测转换交互式多模型算法[J]. 机器人,2015,37(2):237-245, 253.
APA 李为,李一平,&封锡盛.(2015).基于修正加权矩阵的3维解耦无偏量测转换交互式多模型算法.机器人,37(2),237-245, 253.
MLA 李为,et al."基于修正加权矩阵的3维解耦无偏量测转换交互式多模型算法".机器人 37.2(2015):237-245, 253.
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