本文選題：磁偶極子　切入點(diǎn)：跟蹤　出處：《自動(dòng)化學(xué)報(bào)》2017年05期

【摘要】：提出一種新的非線性濾波器應(yīng)用于磁偶極子目標(biāo)跟蹤問題.建立了跟蹤問題的狀態(tài)空間模型,在此基礎(chǔ)上,從高斯矩近似誤差的角度分析了現(xiàn)有卡爾曼濾波更新在磁偶極子跟蹤中的問題.對此,將貝葉斯更新過程等效為求解連續(xù)時(shí)間上的漸進(jìn)貝葉斯問題,在線性高斯條件下推導(dǎo)了其解析解,表明漸進(jìn)貝葉斯更新可等效為定常系統(tǒng)的Kalman-Bucy濾波器;進(jìn)一步采用一階Taylor展開得到非線性近似解表達(dá)式,導(dǎo)出一種漸進(jìn)貝葉斯濾波器,從理論上分析了與現(xiàn)有方法的異同.仿真與實(shí)測磁目標(biāo)跟蹤試驗(yàn)結(jié)果表明,漸進(jìn)貝葉斯濾波器具有良好的精度和收斂性,能夠有效抑制磁目標(biāo)跟蹤中由于大初始誤差導(dǎo)致的性能下降和濾波發(fā)散,且計(jì)算效率與擴(kuò)展卡爾曼濾波器相當(dāng),適于實(shí)際應(yīng)用.
[Abstract]:A new nonlinear filter is proposed for target tracking of magnetic dipole.Based on the state space model of tracking problem, the current Kalman filter updating problem in magnetic dipole tracking is analyzed from the angle of Gao Si moment approximation error.In this paper, the Bayesian updating process is equivalent to solving the asymptotic Bayesian problem in continuous time, and the analytical solution is derived under the condition of linear Gao Si. It is shown that the asymptotic Bayesian update can be equivalent to the Kalman-Bucy filter of the time-invariant system.Furthermore, the first order Taylor expansion is used to obtain the expression of the nonlinear approximate solution, and a kind of asymptotic Bayesian filter is derived. The similarities and differences with the existing methods are analyzed theoretically.The experimental results of simulation and measurement show that the asymptotic Bayesian filter has good accuracy and convergence, and can effectively suppress the performance degradation and filtering divergence caused by large initial error in magnetic target tracking.The computational efficiency is equivalent to that of the extended Kalman filter, which is suitable for practical application.
【作者單位】： 海軍工程大學(xué)兵器工程系;
【基金】：國家自然科學(xué)基金(51509252)資助~~
【分類號】：TN713

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本文編號：1706552