Modified unscented Kalman filter using modified filter gain and variance scale factor for highly maneuvering target tracking

作者：Liu, Changyun^*; Shui, Penglang; Wei, Gang; Li, Song

来源：Journal of Systems Engineering and Electronics, 2014, 25(3): 380-385.

DOI：10.1109/JSEE.2014.00043

• unscented Kalman filter (UKF)
• target tracking
• filter gain
• maneuvering target
• nonlinearity
• modified unscented Kalman filter (MUKF)

To improve the low tracking precision caused by lagged filter gain or imprecise state noise when the target highly maneuvers, a modified unscented Kalman filter algorithm based on the improved filter gain and adaptive scale factor of state noise is presented. In every filter process, the estimated scale factor is used to update the state noise covariance Q(k), and the improved filter gain is obtained in the filter process of unscented Kalman filter (UKF) via predicted variance Pk vertical bar k-1, which is similar to the standard Kalman filter. Simulation results show that the proposed algorithm provides better accuracy and ability to adapt to the highly maneuvering target compared with the standard UKF.

• 出版日期2014-6
• 单位中国人民解放军空军工程大学; 西安电子科技大学