一种基于交互式多模型算法的联邦滤波器

摘要

In order to solve the problem that the estimation accuracy of ordinary federated filter is insufficient when processing the actual targets,especially the maneuvering targets,a new federated filter is proposed based on interacting multiple model ( IMM) algorithm.The IMM algorithm is introduced in the federated filter instead of Kalman filter as a sub-filter to prevent the divergence in nonlinear situation and enhance the estimate accuracy and stability .The simulation results show that the estimation error of the federated IMM filter is continually limited to a certain bound while processing the maneuvering targets,which reveals its fine stability and fault tolerance .%针对联邦滤波器对实际目标尤其是机动目标的估计精度较低的问题，将联邦滤波器与动态多模型估计算法相结合，提出一种基于交互式多模型算法的联邦滤波器。该算法采用交互式多模型算法来代替卡尔曼滤波算法作为子滤波器，克服非线性条件下的滤波发散，从而提高滤波稳定性和状态估计精度。仿真结果表明，在目标做机动的情况下，联邦IMM滤波器的估计误差始终保持在一定范围内，具有良好的稳定性和容错性。