在滤波估计方面，针对增益矩阵计算运算量大的问题，采用

并行滤波器，提出基于机动检测理论的算法。算法复杂度低，易

于工程实现，算法在复杂度上有很大的降低，但过程噪声对跟踪性能影

响较大。因此，引进机动检测策略，结合不同过程噪声下的算法，能有

效降低运算时间，提高跟踪精度。

-Adaptive template update strategy which can adjust the reference template

based on the changes of the tracking target is used to improve the stability of target tracking. The simulation results indicate

that the algorithm can quickly adjust the reference template according to the changes of the shape size and position and the

target is tracked stably and real-time. The target also can be tracked efficaciously， when it is occluded.