一种简化的强跟踪容积卡尔曼滤波算法

摘要

针对强跟踪容积卡尔曼滤波（ STCKF）算法因引入渐消因子而导致计算量增加、实时性变差的问题，提出一种简化的STCKF算法。通过证明STCKF算法的时间更新环节与KF算法的一步预测过程相一致，推导出简化的STCKF算法，并进行了算法复杂度分析。仿真结果表明，简化后的STCKF算法在保证滤波精度不变的情况下，有效提高了算法实时性。%To deal with the problems of the increased calculation complexity and decreased real-time performance due to the introduction of the fading factor in Strong Tracking Cubature Kalman Filter (STCKF) algorithm,a simplified STCKF algorithm is proposed .By proving that the time update of STCKF algorithm is consistent with one-step prediction process of Kalman Filter ( KF ) algorithm,the simplified STCKF algorithm is derived and the complexity of the algorithm is analyzed .The simulation results show that the simplified STCKF algorithm can effectively improve the real-time performance of the algorithm while keeping the filtering accuracy .