TY - GEN
T1 - Non-cooperative target tracking methods research for close-range operation of intelligent space robots
AU - Wang, Ke
AU - Liu, Hong
AU - Guo, Bensheng
AU - Gao, Yunfeng
AU - Li, Ruifeng
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/3
Y1 - 2016/8/3
N2 - Tracking and operating non-cooperative targets at close range are key problems in the field of intelligent space robot. In this paper, three non-cooperative target tracking methods including EKF method, SEKF method and Inf-EKF method are investigated. In addition, efficiency, filtering performance and tracking accuracy of three tracking methods are researched by simulations. The results show that compared with EKF method, SEKF method and Inf-EKF method reduce the calculation and improve the efficiency. Moreover, by comparing filtering performance under different noise levels, it is found SEKF method doesn't show rapid convergence rate but has good anti-noise performance. And through tracking trajectories of feature points, it proves that SEKF method can track targets reliably despite high-level noise.
AB - Tracking and operating non-cooperative targets at close range are key problems in the field of intelligent space robot. In this paper, three non-cooperative target tracking methods including EKF method, SEKF method and Inf-EKF method are investigated. In addition, efficiency, filtering performance and tracking accuracy of three tracking methods are researched by simulations. The results show that compared with EKF method, SEKF method and Inf-EKF method reduce the calculation and improve the efficiency. Moreover, by comparing filtering performance under different noise levels, it is found SEKF method doesn't show rapid convergence rate but has good anti-noise performance. And through tracking trajectories of feature points, it proves that SEKF method can track targets reliably despite high-level noise.
KW - EKF
KW - Inf-EKF
KW - SEKF
KW - non-cooperative target
KW - tracking method
UR - https://www.scopus.com/pages/publications/84983786890
U2 - 10.1109/CCDC.2016.7532145
DO - 10.1109/CCDC.2016.7532145
M3 - 会议稿件
AN - SCOPUS:84983786890
T3 - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
SP - 6371
EP - 6376
BT - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th Chinese Control and Decision Conference, CCDC 2016
Y2 - 28 May 2016 through 30 May 2016
ER -