臺灣博碩士論文加值系統

本論文主要目的是研究比較預先處理量測算法與模糊算法用於非線性目標物追蹤，使用非線性測量方程式結合於卡爾曼濾波器。預先處理量測是以最大概似理論為基礎，推導估測的位置、速度與加速度，減少量測值的不確定性，以改善追蹤性能。我們考慮目標是在極座標上測量，再以轉換成直角座系統，之後經過線性化的量測運用在預先處理方法。此外，我們還結合了多維濾波器於預先處理算法與模糊算法。最後進行模擬與評估性能來驗證提出的方法結果比較(考慮較小的量測方位誤差情況)。

In this paper, an algorithm for measurement preprocessing in nonlinear target tracking is proposed by using the nonlinear measurement equation for the Kalman filter. Measurement preprocessing approach is based on the maximum-likelihood algorithm to derive estimates of the position, velocity and acceleration, and reduce the uncertainty of measurements to improve tracking performance. We consider that the original measurements from the polar co-ordinates are transformed to the Cartesian co-ordinates, and the linearization of the transformed measurements are employed in the preprocessing scheme. We incorporate the preprocessing algorithm into the variable dimension filter (VDF). We also develop a fuzzy rule-based VDF. Simulations illustrate that the measurement preprocessing-based VDF performs better than the fuzzy rule-based VDF and the VDF. (we taking into account the smaller bearing error of measurement.)

摘要--------------------------------------I
Abstract---------------------------------II
誌謝--------------------------------------III
目錄--------------------------------------IV
圖目錄-------------------------------------V
第一章 緒論---------------------------------1
1-1 背景與研究動機---------------------------1
1-2 研究方法--------------------------------1
1-3 本文章節提要-----------------------------2
第二章 預先處理量測用於非線性目標物追蹤-----------4
2-1 線性化之座標轉換--------------------------4
2-2 預先處理量測之非線性等速目標物追蹤------------7
2-3 預先處理量測之非線性等加速目標物追蹤----------13
第三章 預先處理量測用於多維濾波器非線性機動目標追蹤--20
3-1 加速度偵測--------------------------------20
3-2 加速度狀態估測-----------------------------21
3-3 等速偵測與等速狀態估測-----------------------23
第四章 模糊理論用於多維濾波器非線性機動目標追蹤-------25
第五章 模擬結果---------------------------------27
第六章 結論------------------------------------34
第七章 未來研究方向------------------------------35
附錄一 卡爾曼濾波器模型---------------------------36
附錄二 等速與等加速之變異數推導---------------------39
附錄三 多維濾波器模型-----------------------------41
參考文獻----------------------------------------46
個人簡歷----------------------------------------48

V
圖目錄
圖 1. 預先處理量測結合卡爾曼濾波器之理論..............................................4
圖2. 預先處理量測結合多維濾波器之理論...............................................20
圖3. 調整Q 與R 之模糊規則表.........................................................26
圖4. 等速運動x-y 軸之位置均方根誤差.................................................28
圖5. 等速運動x-y 軸之速度均方根誤差.................................................28
圖6. 等加速運動x-y 軸之位置均方根誤差...............................................30
圖7. 等加速運動x-y 軸之速度均方根誤差...............................................30
圖8. RAE,PRE.與VDF 機動性運動x-y 軸之位置均方根誤差.................................33
圖9. RAE,PRE.與VDF 機動性運動x-y 軸之速度均方根誤差.................................33
圖10. 卡爾曼濾波器估測狀態系統......................................................38

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