Millimeter Wave Radar Target Tracking Based on Adaptive Kalman Filter

摘要

With the continuous development of the intelligent transportation industry, target tracking has become an important research direction. Under normal circumstances, due to the complex road environment and changing backgrounds, millimeter wave radar has more interference when detecting targets. In addition to the variety of targets in the road and the different scattering intensity of multiple parts, the interference of the flicker noise on the radar must be considered. The combination of these noises can affect the accuracy of radar measurement and even make the radar to lose the target for a short time. The paper constructs a target tracking model based on adaptive Sage-Husa Kalman filter algorithm to track radar signals. The algorithm can not only estimate the real-time state of the system, but also estimate and modify the parameters of the system and the statistical parameters of the noise, so that the system model is closer to the current real state of the system, thus improving the accuracy of the target tracking. Even if radar loses its target in a short time, the target tracking model can estimate the approximate value of the true value of the target. The experimental results show that this method can track the radar target accurately and estimate the position information of the lost target.