Adaptive Unscented Kalman Filter for Target Tracking in the Presence of Nonlinear Systems Involving Model Mismatches
Abstract
:1. Introduction
2. Problem Description
2.1. System Model Formulation for Target Tracking
2.2. Standard UKF
2.3. Problem Description of the Filter for Systems Involving Model Mismatches
3. Adaptive UKF Algorithm
3.1. L-AUKF Algorithm
3.2. N-AUKF Algorithm
3.3. Filtering Divergence Suppression of the N-AUKF Algorithm
3.4. Implementation Steps of N-AUKF Algorithm
4. Experimental Results and Discussion
4.1. Simulation Cases
4.2. Simulation Results
4.3. Discussion
5. Conclusions
Acknowledgments
Author Contributions
Conflicts of Interest
References
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Algorithm | Position Error (m) | Velocity Error (m/s) | ||
---|---|---|---|---|
Mean | Variance | Mean | Variance | |
UKF | 4.6438 | 2.9790 | 0.8750 | 0.7054 |
L-AUKF | 4.2685 | 2.5421 | 0.8326 | 0.7247 |
N-AUKF | 4.0533 | 2.2850 | 0.8821 | 0.6596 |
Algorithm | Position Error (m) | Velocity Error (m/s) | ||
---|---|---|---|---|
Mean | Variance | Mean | Variance | |
UKF | 37.6647 | 6.2481 | 6.9442 | 5.2972 |
L-AUKF | 26.5571 | 5.3244 | 2.7469 | 5.3367 |
N-AUKF | 8.4256 | 1.0057 | 0.9015 | 0.7523 |
Algorithm | Position Error (m) | Velocity Error (m/s) | ||
---|---|---|---|---|
Mean | Variance | Mean | Variance | |
D-AUKF | 18.2655 | 3.8917 | 2.1542 | 4.2263 |
N-AUKF | 7.9632 | 0.9117 | 0.7854 | 0.6544 |
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Zhou, H.; Huang, H.; Zhao, H.; Zhao, X.; Yin, X. Adaptive Unscented Kalman Filter for Target Tracking in the Presence of Nonlinear Systems Involving Model Mismatches. Remote Sens. 2017, 9, 657. https://doi.org/10.3390/rs9070657
Zhou H, Huang H, Zhao H, Zhao X, Yin X. Adaptive Unscented Kalman Filter for Target Tracking in the Presence of Nonlinear Systems Involving Model Mismatches. Remote Sensing. 2017; 9(7):657. https://doi.org/10.3390/rs9070657
Chicago/Turabian StyleZhou, Huan, Hanqiao Huang, Hui Zhao, Xin Zhao, and Xiang Yin. 2017. "Adaptive Unscented Kalman Filter for Target Tracking in the Presence of Nonlinear Systems Involving Model Mismatches" Remote Sensing 9, no. 7: 657. https://doi.org/10.3390/rs9070657