International Journal of Advanced Robotic Systems Target Tracking of a Linear Time Invariant System under Irregular Sampling Regular Paper
International Journal of Advanced Robotic Systems Target Tracking of a Linear Time Invariant System under Irregular Sampling Regular Paper
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通讯作者：
X. Jin;Jing-jing Du;Bao Jia
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作者：
X. Jin;Jing-jing Du;Bao Jia
©2012薛波等人；InTech被许可方的哲理。这是一篇在知识共享署名许可（http://creativecommons.org/licenses/by/3.0）条款下发布的开放获取文章，该许可允许在任何媒体上不受限制地使用、分发和复制，前提是正确引用原始作品。由于系统中的事件触发采样，或者可能是为了减少数据存储，跟踪许多应用程序会遇到不规则的采样时间。本文利用拉普拉斯逆变换计算矩阵指数，将不规则采样跟踪问题转化为系统时变参数跟踪问题。利用通用卡尔曼滤波对目标进行跟踪，实现了仿真轨迹和视频跟踪。仿真实验结果表明，即使在不规则采样率很高的情况下，该方法也能获得良好的估计性能。
© 2012 Xue-bo et al.; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Abstract Due to event‐triggered sampling in a system, or maybe with the aim of reducing data storage, tracking many applications will encounter irregular sampling time. By calculating the matrix exponential using an inverse Laplace transform, this paper transforms the irregular sampling tracking problem to the problem of tracking with time‐varying parameters of a system. Using the common Kalman filter, the developed method is used to track a target for the simulated trajectory and video tracking. The results of simulation experiments have shown that it can obtain good estimation performance even at a very high irregular rate of measurement sampling time.