距離／加速度センサの融合に基づく運動目標追尾用固定係数フィルタの特性解析

抄録

This paper presents performance analysis of fixed-gain moving object tracking filters for sensing systems based on fusion of range/acceleration sensors (e.g., radars and accelerometers). We propose a new position(range)-acceleration-measured tracking filter whose number of fixed gains is six, and derive its performance indices. The effectiveness of the proposed filter is verified based on the analytical performance comparison with conventional α-β-γ filters whose number of gains is three. In addition, numerical simulations assuming a realistic 2-dimensional sensing situation show the accurate tracking by use of the proposed filter and the validity of the analysis results.