具有状态约束系统的可靠跟踪算法的研究

项目名称： 具有状态约束系统的可靠跟踪算法的研究

项目编号： No.60874059

项目类型： 面上项目

立项/批准年度： 2009

项目学科： 金属学与金属工艺

项目作者： 杨富文

作者单位： 华东理工大学

项目金额： 30万元

中文摘要： 在许多实际系统中，状态不是自由变化的，而是受到一定的约束，这种系统称为具有状态约束系统。它广泛存在于工程应用中，比如车辆跟踪系统，雷达跟踪系统和机器人避障系统。本项目拟研究一类具有状态约束系统的可靠跟踪问题。将采用域估计方法达到100%可靠估计系统的状态，实现可靠跟踪，而不像点估计方法（如卡尔曼滤波方法等）只能做到最大概率估计，而且还对系统有一定的要求（如测量噪声为白噪声）。本项目将研究具有线性等式约束和非线性等式约束两类系统的可靠跟踪算法。最后把以上所研究的成果用于车辆跟踪系统，实现汽车自动跟踪。本项目的研究不仅具有理论意义而且还有实际的应用价值。

中文关键词： 状态约束系统；域估计；线性等式约束；非线性等式约束；可靠跟踪算法

英文摘要： In many real-world applications, the system states are not changed freely and enforced by some constraints. This system is refered to as the system with state constraints. Such systems exist in engneering applications, such as, vehicle tracking system, vehicle tracking system and mobile robot obstacle avoidance system. The proposed research aims to address the reliable tracking problem for the system with state constraints. The region estimation approach will be applied to estimate the sytem states and finally implement 100% relible tracking. This approach will overcome the difficulty in the point estimation (such as Kalman filtering), where only an estimation with maximum probability is provided and the Guaasian measurement noise is required. The reliable tracking algorithms for both systems with linear equality and nonlinear equality constraints will be investigated. The obtained results will be appied to vehicle tracking systems to realise vehicle automatic tracking. The proposed project not only has its theoretical significance, but also has its practical value.

英文关键词： System with state constraint; region estimation; linear equality constraint; nonlinear equality constraint; reliable tracking algorithm