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Fast square root CKF for automotive millimeter-waveradar target tracking


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Fast square root CKF for automotive millimeter-waveradar target tracking
Liu HuajunLai Shaofa
School of Computer Science and Engineering,Nanjing University of Science and Technology,Nanjing 210094,China
millimeter-wave radar target tracking square root cubature Kalman filter
QR decomposition of error covariance matrix of the square root cubature Kalman Filter(CKF)is directly used for filter’s prediction and updating,which can avoid breaking down when the covariance matrix is non-positive-definite.However,the prediction and updating process based on sigma-point propagation leads to obviously high computational burden.In this paper,a fast square root CKF method for automotive millimeter-wave radar target tracking is proposed.In this method,the Kalman equations are used to predict the state means and covariance during the prediction process,while square root CKF equations are used to compute the Kalman gain and update the state means and covariance during the updating process.Many experimental results show,either on efficiency or precision,our proposed method is superior to the similar square root unscented Kalman filter(UKF)and square root CKF algorithms.


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Last Update: 2016-02-29