结合运动方程与卡尔曼滤波的动态目标追踪预测算法

计算机科学 ›› 2015, Vol. 42 ›› Issue (12): 76-81.

• 第十三届全国软件与应用学术会议 • 上一篇下一篇

结合运动方程与卡尔曼滤波的动态目标追踪预测算法

王妍,邓庆绪,刘赓浩,银彪

东北大学信息与工程学院沈阳110819;辽宁大学信息科学与技术学院沈阳110036,东北大学信息与工程学院沈阳110819,辽宁大学信息科学与技术学院沈阳110036,辽宁大学信息科学与技术学院沈阳110036

出版日期:2018-11-14 发布日期:2018-11-14
基金资助:
本文受国家自然科学基金(61472072),国家科技支撑计划(2012BAF13B08),国家“九七三”重点基础研究发展计划前期研究专项(2014CB360509),辽宁省科学事业公益研究基金项目(2015003003)资助

Dynamic Target Tracking and Predicting Algorithm Based on Combination of Motion Equation and Kalman Filter

WANG Yan, DENG Qing-xu, LIU Geng-hao and YIN Biao

Online:2018-11-14 Published:2018-11-14

摘要/Abstract

摘要： 针对传统定位技术误差较大且无法预测目标位置等问题,提出了一种结合运动方程与卡尔曼滤波的动态目标追踪预测算法ME-KF。通过运动方程模拟动态目标运动特性,利用卡尔曼滤波来减小干扰噪声对测量结果的影响,并预测下一时刻的目标位置。该算法在辽宁排山楼矿井的人员定位系统中得到了实际应用,并取得了显著成果。实验结果表明,该方法提高了定位精度,能够对人员位置进行预测以及对危险区域进行预警,并且成功地分析判断了障碍物的分布状况。

关键词: 无线定位,运动方程,卡尔曼滤波,动态目标

Abstract: In the view of problem that the traditional location technology is erroneous greatly,and can not predict the position of the target,this paper presented a dynamic target tracking and predicting algorithm ME-KF combining motion equation and Kalman filter,which simulates the motion characteristics of dynamic target by motion equation,reduces the influence of noise on the measurement results and predicts the position of the target in the next moment.This algorithm has been practically applied to personnel location system of Liaoning Paishanlou mine and has made remarkable achievements.The experimental results show that this method improves the precision of location,predicts people positions,makes early warning of possibly dangerous areas,and can also successfully analyze the distribution of obstacles.

Key words: Wireless location,Motion equation,Kalman filter,Dynamic target

王妍,邓庆绪,刘赓浩,银彪. 结合运动方程与卡尔曼滤波的动态目标追踪预测算法[J]. 计算机科学, 2015, 42(12): 76-81. https://doi.org/

WANG Yan, DENG Qing-xu, LIU Geng-hao and YIN Biao. Dynamic Target Tracking and Predicting Algorithm Based on Combination of Motion Equation and Kalman Filter[J]. Computer Science, 2015, 42(12): 76-81. https://doi.org/

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