Research on infrared passive ranging algorithm based on unscented Kalman filter and modified spherical coordinates
Y H Chi, Lei Hu, X Gao, Suode Li · Journal of Physics Conference Series · 2020
Abstract Target range detection is one of the key technologies for intelligent unmanned vehicle to work reliably and efficiently. Infrared passive ranging can estimate the relative distance information of the target in real time by measuring the angle information with noise. It has many advantages such as low cost, good real-time performance and so on, which has a good application prospect in the range detection. In this paper, the mathematical model of infrared passive ranging of intelligent unmanned vehicle based on modified spherical coordinates (MSC) is established, and the algorithm flow based on unscented Kalman filter (UKF) is given. Finally, the simulation experiment and analysis are carried out. The results show that: in the problem of target range detection of intelligent unmanned vehicle, the method adopted has high ranging accuracy and good stability.