Tracking and Kalman filtering made easy P2

Chia sẻ: Khinh Kha Kha | Ngày: | Loại File: PDF | Số trang:47

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Tracking and Kalman filtering made easy P2

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KALMAN FILTER 2.1 TWO-STATE KALMAN FILTER Up to now we have used a deterministic description for the target motion. Specifically, we have assumed a target having a constant-velocity motion as given by _ x nþ1 ¼ x n þ T x n _ _ x nþ1 ¼ x n ð1:1-1aÞ ð1:1-1bÞ In the real world the target will not have a constant velocity for all time. There is actually uncertainty in the target trajectory, the target accelerating or turning at any given time. Kalman allowed for this uncertainty in the target motion by adding a random component to the target dynamics [19,...

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