基于Hermite插值改进的轨迹修正滤波算法
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引用本文:丁志伟?覮,陈泽宇,马梦园,张正军.基于Hermite插值改进的轨迹修正滤波算法[J].计算技术与自动化,2020,(3):153-160
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作者单位
丁志伟?覮,陈泽宇,马梦园,张正军 (南京理工大学 理学院江苏 南京210094) 
中文摘要:借助移动物体轨迹上标定的真实值点的位置信息和方向信息,构造分段三次Hermite插值函数,对标准卡尔曼滤波和标准粒子滤波的状态方程进行修正,得到两种改进滤波模型,解决了标准滤波算法中状态方程不能准确刻画物体实际运动轨迹的问题。在实验分析中对定常速曲线运动物体的位置坐标进行滤波修正,位置坐标的均方误差分析表明,卡尔曼滤波算法和粒子滤波算法的滤波效果均有改善,其中卡尔曼滤波算法在精度上明显提高。此外,真实值点数量的灵敏度分析的结果表明,在目标轨迹上取少量且关键的点作为真实值点即可达到明显的修正效果。
中文关键词:卡尔曼滤波  粒子滤波  真实值  Hermite插值
 
Implementing Filtering Algorithm Refined by Hermite Interpolation in Track Revision
Abstract:Through the position and direction information of the real value points on object track,a piecewise cubic Hermite interpolation function is constructed to modify the state equation of standard Kalman filter and standard particle filter. The state equation in standard filter algorithm can describe the actual trajectory of specific object more accurately. In the experimental analysis,the track of the object with constant velocity in curvilinear motion is revised. The mean square error of the position coordinates demonstrates that the improvement of Kalman filter algorithm and particle filter algorithm is practical. Moreover,Kalman filter algorithm is improved more significantly in position accuracy. Besides,the sensitivity analysis about the number of real points shows that a proper number of key points on the target track can be regarded as real points to achieve expected accuracy.
keywords:Kalman filter  particle filter  real value  Hermite interpolation
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