多传感器定位误差对跟踪性能影响的研究

摘要

集中讨论了带有传感器定位误差的多传感器跟踪问题中的滤波方法，设计了两个基于一个非线性飞机等效机动模型的扩展卡尔曼滤波器(EKF5)：最优EKF(OF)和次优EKF(sF)，并应用于带有定位误差的多传感器跟踪问题中。Monte-Garlo模拟结果表明定位误差对飞机的位置估计影响较大，但不影响速度或加速度估计；同时说明OF的性能明显优于SF。%This paper discuss the centralized filtering solution to the multisensor aircraft-tracking problem with sensor registration errors. Two EKFs (the optimal EKF (OF)and the suboptimal EKF (SF)) based on a nonlinear coordinated turn maneuver model are designed and applied to that problem. Monte Carlo simulations results shows that the registration errors can significantly affect the aircraft opsition estimates but do not influence the velocity or acceleration estimates,and the perfomace of the OF is much better than the SE.