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在最近的一篇论文中,介绍了一种用来跟踪高度机动目标的急转弯模型的全笛卡尔公式。本文讨论一个更复杂但切合实际的例子,其中目标的运动建模与跟踪是在三维的笛卡尔坐标系内实现,而量测值是在球坐标系内得到的。将测量值转换到笛卡尔坐标系内,这种转换将导致非线性量测方程。使用广义卡尔曼滤波方法来解决这个问题,同时为了比较结果也类似地处理前面所提到的加速模型。
In a recent paper, we introduced an all-Cartesian formula for a sharp turn model to track highly maneuvering targets. This article discusses a more complex but realistic example in which the motion modeling and tracking of a target is implemented in a three-dimensional Cartesian coordinate system and the measurements are taken in a spherical coordinate system. Transforming the measurement into a Cartesian coordinate system will result in a non-linear measurement of the equation. Solve this problem using the generalized Kalman filter approach, and also treat the aforementioned acceleration model similarly for the purposes of comparison.