ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A2-A10
会議情報
1A2-A10 雑音推定型パーティクルフィルタによるレーダ目標追尾(3次元計測/センサフュージョン(2))
光益 義幸河村 晃宏倉爪 亮長谷川 勉
著者情報
会議録・要旨集 フリー

詳細
抄録
This paper proposes a new radar tracking filter called Noise-estimate Particle Filter (NPF) which combines kalman and particle filters. The tracking performance of the kalman filter depends on the setting of several parameters such as a system noise and an observation noise. However, it is quite difficult to choose proper parameters for various scenarios beforehand, and thus they are regulated in trial-and-error manner in some cases. The proposed filter estimates proper noise parameters of a kalman filter based on a scheme of a particle filter on-line. Simulation results show that the proposed technique has a higher tracking performance in various scenarios than conventional kalman and particle filters.
著者関連情報
© 2012 一般社団法人 日本機械学会
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