Professional Documents
Culture Documents
A Novel Motion Model and Tracking Algorithm
A Novel Motion Model and Tracking Algorithm
Huang, Jianguo
+ a(t)
(1)
where
604
H(s)=
1
s+a
k(t)=AX(t)+B;i+Cw(t)
(4)
(11)
where
a ( t ) = - a a ( f )+ w ( t )
(14)
- N(z,a:)
( t-)N ( 0 , 2 a u : ) .
X(f)
a(t) N(O,(T)
and
(-I
+ aT +
(15)
(16)
(-T+aT2/2+(l-e~"')/a)/a'
(-1 + a ~e-")/a'
+
(I - e-")/a
QW.
E [ V ( k ) l = 0, EIV(k)V(k)rl= R(k)
(18)
The Kalman filtering equation used to estimate the motion
state of tacking system shown in Eq. (12) and (17) are as
follows:
~ k + I / k + l ) = ~ k + I / k ) + K ( k + ~ ) ~ k + ~ - ~ ( k t ~ ~ ( k(19)
+~/k)l
i ( k + Ilk)= O(k+ I , k ) B ( k / k ) + U ( k ) A
(20)
K(k+l)=~k+l/k)lp(k+l)~k+l~k+i/k~(k+l)+~k+l)~'
605
where
(21)
(22)
(23)
411
Q ( k ) = E [ w ( k ) w r ( k ) l=
421
411
412
432
.2ao:
(24)
[%,4 2 3
+ W +2dT3/3-2aiT2 -@e?)/(&)
(25)
q,? =(e-*" + 1 - 2 8 + W e - " - 2 a ~ + a ' ~ ~ ) / ( ~(26)
a')
ql, =(I
-e-*= -2aTe-"T)/(2a')
(27)
q2* = ( 4 ~ -' 3 - e-2a' + 2 d 7 / ( 2 2 )
(28)
q21=(e-*" + I - 2e-")/(2a2)
(29)
(30)
Letting n = & i k ) and B = ( g ( k / k )- ;(k - I / k - I))/T .
According to Eq. (12), (14), (15) and (20), the following
equation can be achieved
k ( k + I / k ) = ID,(k+ I,k)2(k,k) + U , ( k ) t
(3 1)
where
I T 71/2
(-~+ar'/2+(1-8)/a)/a
,q(k+Lk)=O[o I T
T-;W$)/a
132)
q33=(I -e-'"')/(2a2)
1,
10
f ,
(33)
The tracking algorithm of the system shown in Eq.
(12) and (17) based on AGM can be obtained from Eq. (19)
to Eq. (33).
0:
=((a(k/k)-a(k- l/k-l))/T)2/b2
% a
Y r = ~ , n w = ~ 0 m / s 2 ,a=0.1, ~ = t .
(2). When a target maneuvers at a constant acceleration
~(0=
) 500 m, y(0) = 0 , k(0) = 0, v, = IOmis, v y = 0,
V,=O,
~ , = I O ~ / S ~ ~
,
= o . I ,T = I , a ,
5m/s2.
606
REFERENCES
[I]
[Z]
[3]
r41
[71
607