Application of Unscented Kalman Filter for Flying Target Tracking

Abstract

According to the nonlinear maneuvering characteristics of flying targets, unscented Kalman filter is used to achieve a two-dimensional trajectory tracking and predicting in the coordinates of camera view field. By calculating the target centroid position in the imaging focal plane, the third-order constant acceleration motion model of two-dimensional is established. Because of the nonlinear characteristics of flying targets, unscented transform sampling is used to update the states matrix. It is not necessary to solve the complicated Jacobian matrix which cannot be avoided in the ordinary extended Kalman filtering. Unscented Kalman filter is used to update the target prediction matrix, and the next state of the target prediction matrix is used to be the trajectory prediction value. Model simulation and data processing results show that the algorithm brings a great convenience for real-time processing platform at the coordinate of camera view field.