An IMM particle filter tracking algorithm based on farmland topography
1.School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 2.College of Automation and Electrical Engineering, Nanjing University of Technology, Nanjing, Jiangsu 210009, China)
Abstract：According to the regular farmland topography， a new tracking algorithm with low cost and high precision was proposed. Based on the optimized driving routes of agricultural vehicle, two maneuver models were determined for farmland work, and the farmland work target was tracked by interacting multiple model (IMM) particle filter. Considered the farmland topography as a factor in particle filter algorithm, the particles which cross ridges were ticked out to improve the estimated precision. The improved IMM particle filter algorithm was used to simulate and analyze the moving target. The results show that the proposed algorithm can improve the positioning tracking precision effectively only by general low cost GPS for the navigation of regular farmland topography.
2011, Vol. 32 
