关键词: 粒子滤波, 卡尔曼滤波器, 目标运动分析, 线性跟踪系统

Abstract: The conventional bootstrap filter suffers a main drawback of not incorporating the latest observations. Therefore, this paper proposed a Kalman Particle Filter (KPF) algorithm, and applied this new algorithm to bearingonly target tracking. An improved scheme was presented to handle this problem and yield a Kalman particle filter. The underlying idea of the new algorithm is that each particle is updated using Kalman filter incorporating the coming observations. A bearingonly tracking model was experimented and compared with bootstrap filter and KPF. The experimental results verify its superiority.

Key words: particle filter, Kalman filter, target motion analysis, linear tracking system