| Citation: | WU Yuanfu, SUN Yue. Magnetic dipole target tracking based on recursive update Kalman filter[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(9): 1805-1812. doi: 10.13700/j.bh.1001-5965.2016.0694(in Chinese)
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The magnetic target tracking problem is addressed in this paper by establishing the discrete state-space model on the basis of the equivalent magnetic dipole model in order to formulate the real-time magnetic dipole target tracking problem as filtering estimation problem of state-space model. Then a novel filtering approach with the recursive update process is proposed to address the divergence problem of magnetic target tracking under large prior error condition when using present Kalman-type filters. The one-step measurement update is replaced by recursive update process; hence the large nonlinearized error caused by large prior error is reduced in each recursive step. The proposed algorithm is tested by simulation and real-world magnetic data. Both results validate the superior performance in comparison with present filters in terms of accuracy and convergence, and the capacity to suppress the divergence problem caused by large prior error in magnetic dipole target tracking.
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