Abstract: In order to improve the tracking precision of moving target with quadratic equality constraints, a target tracking method based on cubature Kalman filter for systems with quadratic equality constraints is proposed. Firstly, the posteriori estimate is obtained by using the cubature Kalman filter. Then through regarding the quadratic constraints as the measurement equation, a satisfied amendment is obtained for the posteriori estimate. Finally a simulation experiment is carried out to test the performance of the algorithm. The simulation results show that, compared with the traditional constraint Kalman filtering algorithm, the proposed algorithm has improved accuracy and stability of target tracking.

Key words: single station passive location, cubature Kalman filter, quadratic equality constraint

摘要： 为了提高对带约束目标的跟踪精度，提出了一种带二次约束的容积卡尔曼目标跟踪算法。使用容积卡尔曼滤波得到当前时刻后验估计，通过将系统二次约束作为测量方程引入系统，对后验估计进行修正，最后采用仿真实验对算法性能进行测试。实验结果表明，相对于传统的约束卡尔曼滤波算法，在同等条件下，该算法提高了目标跟踪精度，并且稳定性更强。

关键词: 单站无源定位, 容积卡尔曼滤波, 二次等式约束