| 摘要:文章首先概述了车辆的磁场跟踪方案，并说明了在这些方案中运用将非线性滤波算法的优点以及存在的问题。其次描述使用非线性滤波算法的“双传感器”方案和梯度计方案的原理和模型，并提出了一种Euler反演法与Kalman算法结合的梯度张量方案。文章中使用了非线性滤波的Cramer-Rao下限分析并比较了这几种方案的性能。最后给出了方案的仿真的结果。这几种方案均能实现对车辆的跟踪，其中梯度张量方案在磁矩估计上有明显的性能优势。 |
| 关键词: 车辆磁场跟踪 磁偶极子模型 非线性滤波 Cramer-Rao下限 |
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| Research on Several Nonlinear Filtering Schemes for Vehicle Magnetic Field Tracking |
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| Abstract:This article first summarizes the estimation and tracking method of vehicles magnetic field, and illustrates the advantages and existing problems to use non-linear filtering algorithms. Second, the principles and models of two methods, the “Two sensors” method and the "Gradiometer" method, in which nonlinear filtering algorithm is applied, are described. What’s more, a “Gradient tensor” method combined the Euler inversion with Kalman algorithm is proposed . The Cramer-Rao Bounds of nonlinear filtering algorithm is used to analyze and compare the performance of these methods mentioned above. At last, simulation results are carefully demonstrated and show that all these methods have the ability to estimate and track a vehicle. However, the “Gradient tensor” method performs much better than other methods in terms of the estimation of magnetic moment. |
| Key words: Vehicle magnetic field tracking Nonlinear Filtering Gradient tensor Cramer-Rao Bounds |