Algorithms Design for Tracking Moving Objects with Colored Process Noise
| Autor: | Eli Pale Ramon, Shunyi Zhao, José Amparo Andrade Lucio, Yuriy S. Shmaliy, Jorge Ortega Contreras |
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| Rok vydání: | 2020 |
| Předmět: |
Finite impulse response
Computer science 020208 electrical & electronic engineering 020206 networking & telecommunications 02 engineering and technology Filter (signal processing) Kalman filter Tracking (particle physics) Algebraic Riccati equation Noise Colored 0202 electrical engineering electronic engineering information engineering State (computer science) Algorithm |
| Zdroj: | 2020 24th International Conference on Circuits, Systems, Communications and Computers (CSCC). |
| DOI: | 10.1109/cscc49995.2020.00012 |
| Popis: | Tracking of moving objects is often accompanied with colored process noise (CPN) in the object speed. To reduce tracking errors, the Kalman and unbiased finite impulse response filtering algorithms are modified in this paper assuming the Gauss-Markov noise nature. The state differencing approach employed to derive the algorithms, requires solving a nonsymmetric algebraic Riccati equation that allows modifying the system matrix for CPN. Based on a simulated tracking example, a higher accuracy of the modified KF and unbiased finite impulse response (UFIR) filter is demonstrated. Extensive investigations of the walking human trajectories are provided for colored speed noise. |
| Databáze: | OpenAIRE |
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