Attenuation coefficient self-adaptation filtering method and filtering system

The invention relates to the technical field of target tracking, in particular to an attenuation coefficient self-adaptation filtering method. Under the situation that the measured noise variance is unknown, auxiliary information capable of reflecting the dynamic noise change is introduced into estimation of the measured noise variance, the attenuation coefficient is adjusted in a self-adaptation mode according to the precision level information of the measured noise, the dynamic change of the measured noise variance can be adapted, the performance of estimation on the noise variance is improved, and accordingly the filtering effect is improved.