目标跟踪系统中野值的判别与剔除方法

目标跟踪系统观测的目标坐标值,不仅包含随机误差,有时由于干扰等原因,使得测量值含有远大于随机误差的粗大误差,通常称为野值。带有野值的测量值将导致滤波系统产生记忆效应和误差,甚至导致滤波过程发散。因此,对测量过程产生的野值应予剔除。结合对Kalman滤波原理的分析,说明了基于Kalman滤波的野值判别与剔除方法,并提出了野值判别门限值的计算方法。

The Method of Distinguishing and Rejecting the Unruly-value in the Target-tracking System

In the target-tracking system,the measured value of the target coordinates not only includes the random error,but also sometimes includes the bulky error caused by the factors of interference etc.This kind of error is usually called unruly-value,and its value is far larget than the random error.The measured value with the unruly-value will not only cause the measure error and the memory effect,but also make the filter system divergence.Therefore,the umruly-value should berejected.Through analyzing the principle of Kalman filter,this paper discusses the method of distinguishing and rejecting unruly-value based on the Kalman filter.At the same time,it puts forward a method of calculating threshold to distinguish unruly-value.