研究目的
To present an automatic parameter setting method to achieve an accurate second-order Kalman ?lter tracker based on a steady-state performance index.
研究成果
The proposed method automatically calculates the optimal Q from the single preset parameter aD, and the performance with this Q is better than that given by conventional models. The proposed method achieves accurate tracking even for 2D problems, but the appropriate presetting of aD is important in practical use.
研究不足
The study assumes one-dimensional (1D) tracking for simplicity, although applications to two-dimensional (2D) tracking and more than 2D tracking are mentioned as easily realizable. The effectiveness of the proposed method for targets that have both comparatively large acceleration and jerk is questioned.
1：Experimental Design and Method Selection:
The study proposes an efficient steady-state performance index corresponding to the root-mean-square (rms) prediction error in tracking and derives an analytical relationship between the proposed performance index and the generalized error covariance matrix of the process noise.
2：Sample Selection and Data Sources:
The study uses numerical analysis and simulations to demonstrate the effectiveness of the proposed method for targets with accelerating motion.
3：List of Experimental Equipment and Materials:
Not explicitly mentioned.
4：Experimental Procedures and Operational Workflow:
The study involves deriving an analytical relationship between the proposed performance index and the generalized error covariance matrix for process noise and presenting the proposed process noise setting method.
5：Data Analysis Methods:
The study uses numerical analyses and simulations to verify the validity and effectiveness of the proposed method for a moving target.
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