基于扩展卡尔曼滤波思想,本文提出了一种融合姿态角信息的非线性滤波算法.通过分析目标二维和三维运动特征与姿态角的关系,以姿态角和速度模值为控制项,建立状态方程和量测方程,对目标的位置状态进行估计,实现了姿态角信息和位置信息的有效融合.姿态角在不同随机噪声条件下的仿真实验结果验证了算法的准确性和实时性.
Abstract
Based on the thought of Extended Kalman Filter (EKF),the nonlinear filter fusing pose information was proposed by the analysis of relationship between pose and motion characteristic in 2D and 3D,with pose and velocity modulus as its control,the position of target was estimated through state and measurement equations,pose information and position information are fused effectively.The simulation results,which under the condition that pose with different noise,validate the accuracy and real time of the algorithm.
关键词
目标跟踪 /
姿态角 /
扩展卡尔曼滤波 /
非线性滤波
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Key words
target tracking /
pose /
extended Kalman filter /
nonlinear filtering
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中图分类号：
TN95
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