| Popis: |
In view of the problem of robust tracking of maneuvering target under LOS/NLOS condition, an IMM algorithm based on AR prediction model is proposed (ARIMM). First of all AR prediction model is adopted to model the motion state, and secondly UKF and RUKF are utilized separately for the reason that the state LOS and NLOS have different distribution of observation noise, and the IMM filter is used to estimate the position of BS, and finally the position is used to update the current parameters in AR prediction model and make the AR model more matched with the true motion state. Simulation result demonstrates that the proposed algorithm performs better robustness under LOS/NLOS condition compared with the traditional UKF and RUKF. |
