改进的交互式多模型粒子滤波目标跟踪算法

吕铁军; 蒋宏; 梁国威; 丁全心

doi:10.15892/j.cnki.djzdxb.2013.03.004

弹箭与制导学报 >

2013 , Vol. 33 >Issue 3: 9 - 11,16

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2013.03.004

导弹与制导技术

改进的交互式多模型粒子滤波目标跟踪算法

吕铁军 ,
蒋宏 ,
梁国威 ,
丁全心

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1 北京航空航天大学飞行器控制一体化技术国防科技重点实验室,北京 100191
2 94683部队,福建泉州 362000
3 火力控制技术国防科技重点实验室,河南洛阳 471009

吕铁军(1985-),男,河北衡水人,硕士研究生,研究方向:导航、制导与控制。

收稿日期: 2012-10-18

网络出版日期: 2025-05-26

基金资助

航空科学基金(20125151028)

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A Target Tracking Algorithm Based on Improved Interacting Multiple Model Particle Filter

LV Tiejun ,
JIANG Hong ,
LIANG Guowei ,
DING Quanxin

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1 National Key Laboratory of Science and Technology on Aircraft Contral, BUAA, Beijing 100191, China
2 No. 94683 Unit, Fujian Quanzhou 362000, China
3 National Key Laboratory of Science and Technology on Fire Control Technology, Henan Luoyang 471009, China

Received date: 2012-10-18

Online published: 2025-05-26

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摘要

针对现有的交互式多模型粒子滤波算法存在粒子退化现象,跟踪性能不高,计算量大影响跟踪的实时性等问题,采用改进的残差重抽样算法,并在滤波前后,对各模型粒子进行输入输出交互运算,得出一种改进的交互式多模型粒子滤波目标跟踪算法。该算法在解决了粒子退化现象的同时,避免了残留粒子重采样问题,在一定程度上降低了计算量,减小了系统估计误差,提高了跟踪性能。通过仿真,验证了该算法的良好性能。

关键词： 交互式多模型; 粒子滤波; 目标跟踪; IMMPF

本文引用格式

吕铁军 , 蒋宏 , 梁国威 , 丁全心 . 改进的交互式多模型粒子滤波目标跟踪算法[J]. 弹箭与制导学报, 2013 , 33(3) : 9 -11,16 . DOI: 10.15892/j.cnki.djzdxb.2013.03.004

Abstract

In view of the particles degeneracy phenomenon, not perfecting tracking performance and the high computational complexity which lower the real-time performance of tracking in the exacting interacting multiple model particle filter algorithm, an improved residual re-sampling algorithm is used and the particles of all models interact with computing before and after filtering, finally a new target tracking algorithm based on improved interacting multiple model particle filter is obtained. The algorithm not only solved the problems of particles degeneracy phenomenon and residual particles re-sampling, but improved the tracking performance, together with a lower computational complexity. Simulation results confirmed the proposed IMMPF algorithm.

Key words： interacting multiple model; particle filter; target tracking; IMMPF

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