【摘要】 简化UT(unscentedtransformation)转化参数,修改UKF(unscentedKalmanfilter)提议分布,提出了改进的粒子滤波算法。调节因子的增加使得能在线自适应估计,滤波性能提高,并形成一个自适应的算法。仅有角测量的目标跟踪仿真试验证实了改进的粒子滤波算法要优于其它滤波方式。更多还原

【Abstract】 A new improved particle filter algorithm with the simplified UT (unscented transformation) and the modified unscented Kalman filter (UKF) proposal distribution is presented. The scaling factor is added to adaptively estimate on line and to improve the filtering performance. An adaptive algorithm is developed. In the bearings-only tracking experiments, the results confirm the improved particle filter algorithm outperforms others.更多还原