一种改进的强跟踪滤波算法

doi:10.3969/j.issn.0255-8297.2015.01.004

应用科学学报 ›› 2015, Vol. 33 ›› Issue (1): 32-40.doi: 10.3969/j.issn.0255-8297.2015.01.004

一种改进的强跟踪滤波算法

1. 哈尔滨工程大学自动化学院，哈尔滨150001
2. 中国航天科工集团二院706 所，北京100854

收稿日期:2012-07-06 修回日期:2012-12-17 出版日期:2015-01-30 发布日期:2012-12-27
作者简介:钱华明，教授，博导，研究方向：组合导航、智能故障诊断和容错、信息融合、传感器技术及智能系统，E-mail: qianhuam@sina.com
基金资助:
国家自然科学基金(No.61104036)

An Improved Strong Tracking Filtering Algorithm

1. College of Automation, Harbin Engineering University, Harbin 150001, China
2. 706 Institute, The Second Academy of China Aerospace Science & Industry Corp, Beijing 100854, China

Received:2012-07-06 Revised:2012-12-17 Online:2015-01-30 Published:2012-12-27

摘要/Abstract

摘要： 强跟踪滤波算法由于对判断滤波发散的阈值设置较小，以较大概率产生渐消因子而导致对滤波增益过调节，最终对状态估计不够平滑. 在分析强跟踪滤波算法运行机理的基础上，提出了一种改进的强跟踪滤波算法. 通过适当提高判断滤波发散的阈值，有效降低了误判滤波发散的概率，并能针对不同维数量测方程确定不同的弱化因子，避免了凭经验加入弱化因子解决这一问题的缺陷. 数值仿真结果表明：改进的强跟踪滤波算法对系统状态突变不但具有较强的鲁棒性，而且能有效保持滤波精度和对状态估计的平滑性，从而验证了该算法的可行性和有效性.

关键词: 强跟踪滤波, 鲁棒性, 渐消因子, 弱化因子

Abstract: Strong tracking filtering (STF) sets small threshold to judge filtering divergence leading to fading factor with high probability, which causes excessive regulation of the filtering gain and makes the state estimation curve lack smoothness. By analyzing the operation mechanism of STF, improved STF (ISTF) is proposed. The proposed algorithm reduces probability of misjudging filter divergence by appropriately increasing the threshold. It determines the softening factor to suit different dimensions of the measurement equation, and thus avoids the disadvantages of the previous methods that determine the softening factor according to experiences. Simulation indicates that ISTF can maintain filtering accuracy and estimation smoothness, and is robust against sudden changes in the system state, showing its feasibility and effectiveness.

Key words: strong tracking filtering (STF), robustness, fading factor, softening factor

中图分类号:

V556

钱华明1，葛磊1,2，黄蔚1. 一种改进的强跟踪滤波算法[J]. 应用科学学报, 2015, 33(1): 32-40.

QIAN Hua-ming1, GE Lei1,2, HUANG Wei1. An Improved Strong Tracking Filtering Algorithm[J]. Journal of Applied Sciences, 2015, 33(1): 32-40.

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一种改进的强跟踪滤波算法

An Improved Strong Tracking Filtering Algorithm

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