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| Iterated Central Difference Kalman Filter Based Speaker Tracking |
| Hou Dai-wen①②; Yin Fu-liang① |
| ①School of Electronic and Information Engineering, Dalian University of Technology, Dalian 116023, China; ②Naval Test Base, Dalian 116041,China |
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Abstract In the state space method based speaker tracking system, the nonlinearity of the measurement function degrades the localizing accuracy of the speaker tracking method severely. The iterated central difference Kalman filter algorithm, which incorporates the iterated filtering theory and the Central Difference Kalman Filter (CDKF) method, is proposed to reduce linearization error. In comparison with traditional CDKF method, the proposed method has higher tracking accuracy, faster convergence speed and more robust stability. Simulation results demonstrate the effectiveness of the proposed method.
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Received: 30 November 2006
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2008, Vol. 30 
