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建立了图象序列中目标形心位置测量方程，并针对目标机动性，采用一种解耦的并行卡尔曼滤波跟踪算法，即速度滤波器和加速度滤波器并行独立运算．加速度滤波器的输出用于校正速度滤波器的结果．根据探测到的目标机动性情况，加速度滤波器可以实时切换，降低了计算量和存储量，提高了跟踪的实时性．仿真结果表明该算法具有很好的跟踪性能．
Aiming at the target maneuverability, a decoupled parallel Kalman filter tracking algorithm is established, that is, the speed filter and the acceleration filter are independently operated in parallel. The output of the acceleration filter is used to correct the result of the speed filter. According to the detected target mobility, the acceleration filter can be switched in real time, which reduces the amount of computation and memory and improves the real-time tracking. Simulation results show that the algorithm has good tracking performance.