论文标题
高速拦截的目标状态估计和预测
Target State Estimation and Prediction for High Speed Interception
论文作者
论文摘要
轨迹的准确估计和预测对于任何高速目标的拦截至关重要。在本文中，使用扩展的卡尔曼滤波器来估算目标从其视觉信息中的当前位置，然后使用观察序列预测其未来位置。考虑到目标轨迹的近似已知模式，目标运动模型是开发的。在这项工作中，我们利用目标的视觉信息来执行预测。所提出的算法是在Ros-Gazebo环境中开发的，并使用硬件实现进行了验证。
Accurate estimation and prediction of trajectory is essential for interception of any high speed target. In this paper, an extended Kalman filter is used to estimate the current location of target from its visual information and then predict its future position by using the observation sequence. Target motion model is developed considering the approximate known pattern of the target trajectory. In this work, we utilise visual information of the target to carry out the predictions. The proposed algorithm is developed in ROS-Gazebo environment and is verified using hardware implementation.
