The research on Kalman filtering with nonlinear measurement delay in TV tracking systems

Due to the problems of target motion parameter can not be directly predict and predicting accuracy reduced caused by miss distance in TV tracking system,an uncertain factor γ was introduced in the measurement equation, and it´s probability to represent the system delay volume. At the same time according to the theory of Unscented Kalman filtering,the calculation algorithm of state estimation in nonlinear system with measurement delay is given(called measurement delay Unscented Kalman filter). And then,it is applied in equivalent compound control of TV tracking system. The simulation results show that introduction uncertain factor in measurement equation for describing measurement delay is valid, and can greatly reduced predicting error and tracking.