The Tracking Of The Maneuvering Target And The Research Of The Application The Unscented Kalman Filtering

The problems of building the model of the maneuvering target tracking andthe filtering of the nonlinear systems are studied mainly. Meanwhile,therelated simulation experiments are done on the base of the theory introduced.To build the model of the movement of the target is principle process inthe tracking. the current statistical model is introduced primarily. According tothe model, the maneuvering target is studied.The filtering algorithm is a important part in the process of tracking themaneuvering target. After the model of the maneuvering target is confirmed,the vector of the state will be predicted and estimated through the filteringalgorithm. The usual and basic Kalman filtering algorithm is introduced on thebase of the theories and the methods of the estimation. Aiming at the studiedproblem, the traditional filtering algorithms of the nonlinear system named theExtended Kalman Filtering are introduced. the Unscented Kalman Filtering isintroduced mostly. Because the model of the nonlinear system firstly must belinearized in the progress of the Extended Kalman Filtering,the errorintroduced in the progress of linearization is unavoidable. However,theUnscented Kalman Filtering is a new algorithm which study specially thenonlinear system and have some traits such as the realization easily,comprehensive application,stable performance and so on. With a view to theaccuracy of tracking,the application of the Unscented Kalman Filtering in thetracking to the maneuvering target is studied mainly.At last,according to the model and the filter algorithm,the simulationexperiments about the movement of the maneuvering target is done. To theconclude from the analyses of the simulation,the Unscented Kalman Filtering has high accuracy in tracking. With the comparison to the Extended KalmanFiltering,the Unscented Kalman Filtering has the less error of the tracking.