Memory Attenuation Square-root Cubature Kalman Filtering and Its Application
YANG Wangming
Abstract：Calculation error and model error are two main factors which cause the divergence of cubature Kalman filter (CKF),and square-root cubature Kalman filter(SCKF)algorithm can only restrain the calculation divergence.To restrain the fil?tering divergence caused by model error,the square-root cubature Kalman filtering algorithm based on memory attenuation (MASCKF)is proposed.In which,a weighted index is introduced as the attenuation factor to enhance the use of the current mea?surement data. Finally,the algorithm proposed is applied to target tracking filtering of optical tracking system. The simulation re?sults show that,MASCKF algorithm can effectively suppress the filtering divergence caused by model error,and the effect of filter?ing is better than SCKF algorithm.
Keywords：square-root cubature Kalman filteringmemory attenuationphotoelectric trackingtarget tracking
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 471-474 )