临近空间高超声速滑翔弹双通道跟踪算法
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摘要
为了提高临近空间高超声速滑翔目标的跟踪精度,提出了一种双通道并行跟踪算法。首先对比分析了目标的弹道轨迹,目标角度域参数相比位置域参数存在更显著的变化规律,为了在雷达测量直角坐标系下跟踪,采用倾角和方位角代替航迹倾角和航向角,将倾角变化率和方位角变化率描述成零均值正弦自相关随机过程,分别建立了纵向通道和横向通道的角度域模型。然后将目标轨迹分解到纵向观测平面和横向观测平面,通过量测数据预处理、双通道并行滤波、输出状态合并,实现目标的三维跟踪。最后通过仿真实验设置了算法中两个通道的机动模型的参数,分析了过程噪声对跟踪精度的影响,仿真结果表明,与现有的临近空间高超声速目标跟踪算法相比,该算法具有较高的跟踪精度。
To improve the tracking accuracy for the hypersonic gliding targets in the near space,a dual-channel parallel tracking algorithm is proposed. Firstly,the target's ballistic trajectory is compared and analyzed. There are more significant changes in the motion parameters of angle domain compared to that of the position domain. In order to make tracking in the East North Up coordinate system,the inclination angle and azimuth angle are used instead of the flight path angle and velocity azimuth angle to establish the maneuvering models in the longitudinal and horizontal channels respectively. The change rate of the inclination angle and azimuth angle are all described as a zero-mean sinusoidal autocorrelation stochastic process. Then,the trajectory is decomposed into the longitudinal and horizontal planes. A threedimensional tracking of the target is achieved through the measurement data preprocessing,dual-channel parallel filtering,and output state merging. Finally,the parameters of the two-channel maneuvering model in the algorithm are set through the simulation experiments,and the influence of the process noise on the tracking accuracy is analyzed. The simulation results show that,the algorithm has higher tracking accuracy compared with the existing near-space hypersonic target tracking algorithm.
To improve the tracking accuracy for the hypersonic gliding targets in the near space,a dual-channel parallel tracking algorithm is proposed. Firstly,the target's ballistic trajectory is compared and analyzed. There are more significant changes in the motion parameters of angle domain compared to that of the position domain. In order to make tracking in the East North Up coordinate system,the inclination angle and azimuth angle are used instead of the flight path angle and velocity azimuth angle to establish the maneuvering models in the longitudinal and horizontal channels respectively. The change rate of the inclination angle and azimuth angle are all described as a zero-mean sinusoidal autocorrelation stochastic process. Then,the trajectory is decomposed into the longitudinal and horizontal planes. A threedimensional tracking of the target is achieved through the measurement data preprocessing,dual-channel parallel filtering,and output state merging. Finally,the parameters of the two-channel maneuvering model in the algorithm are set through the simulation experiments,and the influence of the process noise on the tracking accuracy is analyzed. The simulation results show that,the algorithm has higher tracking accuracy compared with the existing near-space hypersonic target tracking algorithm.
引文
[1]李建林.临近空间高超声速飞行器发展研究[M].北京:中国宇航出版社,2012,5.
[2] Ann R. First test flight successful for advanced hypersonic weapon vehicle[R]. Defense Daily,November,18,2011:6.
[3]李慧峰.高超声速飞行器制导与控制技术[M].北京:中国宇航出版社,2012. 10.
[4] Julier S J,Uhlmann J K. Unscented filtering and nonlinear estimation[J]. Proc. IEEE,2004,92(3):401-422.
[5] Jia B,Xin M,Cheng Y. High-degree cubature Kalman filter.Automatica,2013,49(2):510-518.
[6] Mohammaddadi G,Parize N,Karimpour A. Modal Kalman filter[J]. Asian J. Control,2017,19(2):728-738.
[7] Jilkov V P, Angelova D S, Semerdjiev T A. Design and comparison of mode-set adaptive IMM algorithms for maneuvering target tracking[J]. IEEE Transactions on Aerospace and Electronic Systems,1999,35(1):343-350.
[8] Li T C,Su J Y,Liu W,et al. Approximate gaussian conjugacy:parametric recursive filtering under nonlinearity, multimode,uncertainty, and constraint, and beyond[J]. Frontiers of Information Technology&Electronic Engineering,2017.
[9] Olivier D M,Robert H B. Tracking and identification of a maneuvering reentry vehicle[C]. AIAA Guidance,Navigation,and Control Conference and Exhibit,Austin,Texas,USA,Aug11-14,2003.
[10]李海宁,雷虎民,翟岱亮,等.面向跟踪的吸气式高超声速目标动力学建模[J].航空学报,2014,35(6):1651-1664.[Li Hai-ning,Lei Hu-min,Zhai Dai-liang,et al. Tracking oriented dynamics modeling of airbreathing hypersonic vehicles[J]. Acts Aeronautics Et Astronautics Sinica,2014,35(6):1651-1664.]
[11]张凯,熊家军,韩春耀,等.一种基于气动力模型的高超声速滑翔目标跟踪算法[J].宇航学报,2017,38(2):123-130.[Zhang Kai,Xiong Jia-jun,Han Chun-yao,et al. A tracking algorithm of hypersonic glide reentry vehicle via aerodynamic model[J]. Journal of Astronautics,2017,38(2):123-130.]
[12] Jilkov V P,Li X R,Ru J F. Modeling ballistic target motion during boost for tracking[J]. Signal and Data Processing of Small Targets,2007:1-12.
[13] Duan Z,Li X R. Modeling of target motion constrained on straight line[J]. IEEE Transactions on Aerospace&Electronic Systems,2016,52(2):548-562.
[14]王国宏,李俊杰,张翔宇,等.临近空间高超声速滑跃式机动目标的跟踪模型[J].航空学报,2015,36(7):2400-2410.[Wang Guo-hong,Li Jun-jie,Zhang Xiang-yu,et al. A tracking model for near space hypersonic slippage leap maneuvering target[J]. Acta Aeronautica et Astronautica Sinica,2015,36(7):2400-2410.]
[15] Li X R,Jilkov V P. Survey of maneuver target tracking. Part I:dynamic models[J]. IEEE Transactions on Aerospace and Electronic Systems,2003,39(4):1333-1364.
[16] Li X R,Jilkov V P. A survey of maneuvering target tracking.Part II:ballistic target models[J]. Signal and Data Processing of Small Targets,2001:423-446.
[17] Jilkov V P, Angelova D S. Performance evaluation and comparison of variable structure multiple-model algorithms for tracking maneuvering radar targets[C]. 26th European Microwave Conference,Prague,Czech Republic,Sep 6-13,1996.
[18] Duan Z,Li X R. Constrained target motion modeling-Part II:Circular track[C]. 16th International Conference on Information Fusion. Iitanbul,Turkey,Jul 9-12,2013.
[19]张翔宇,王国宏,张静,等.临近空间高超声速助推-滑翔式轨迹目标跟踪[J].宇航学报,2015,36(10):1125-1132.[Zhang Xiang-yu,Wang Guo-hong,Zhang Jing,et al. Tracking of hypersonic boost-to-glide trajectory target in near-space[J].Journal of Astronautics,2015,36(10):1125-1132.]
[20]李广华,张洪波,汤建国.高超声速滑翔飞行器典型弹道特性分析[J].宇航学报,2015,36(4):397-403.[Li Guang-hua,Zhang Hong-bo,Tang Jian-guo. Typical trajectory characteristics of hypersonic glide vehicle[J]. Journal of Astronautics,2015,36(4):397-403.
[2] Ann R. First test flight successful for advanced hypersonic weapon vehicle[R]. Defense Daily,November,18,2011:6.
[3]李慧峰.高超声速飞行器制导与控制技术[M].北京:中国宇航出版社,2012. 10.
[4] Julier S J,Uhlmann J K. Unscented filtering and nonlinear estimation[J]. Proc. IEEE,2004,92(3):401-422.
[5] Jia B,Xin M,Cheng Y. High-degree cubature Kalman filter.Automatica,2013,49(2):510-518.
[6] Mohammaddadi G,Parize N,Karimpour A. Modal Kalman filter[J]. Asian J. Control,2017,19(2):728-738.
[7] Jilkov V P, Angelova D S, Semerdjiev T A. Design and comparison of mode-set adaptive IMM algorithms for maneuvering target tracking[J]. IEEE Transactions on Aerospace and Electronic Systems,1999,35(1):343-350.
[8] Li T C,Su J Y,Liu W,et al. Approximate gaussian conjugacy:parametric recursive filtering under nonlinearity, multimode,uncertainty, and constraint, and beyond[J]. Frontiers of Information Technology&Electronic Engineering,2017.
[9] Olivier D M,Robert H B. Tracking and identification of a maneuvering reentry vehicle[C]. AIAA Guidance,Navigation,and Control Conference and Exhibit,Austin,Texas,USA,Aug11-14,2003.
[10]李海宁,雷虎民,翟岱亮,等.面向跟踪的吸气式高超声速目标动力学建模[J].航空学报,2014,35(6):1651-1664.[Li Hai-ning,Lei Hu-min,Zhai Dai-liang,et al. Tracking oriented dynamics modeling of airbreathing hypersonic vehicles[J]. Acts Aeronautics Et Astronautics Sinica,2014,35(6):1651-1664.]
[11]张凯,熊家军,韩春耀,等.一种基于气动力模型的高超声速滑翔目标跟踪算法[J].宇航学报,2017,38(2):123-130.[Zhang Kai,Xiong Jia-jun,Han Chun-yao,et al. A tracking algorithm of hypersonic glide reentry vehicle via aerodynamic model[J]. Journal of Astronautics,2017,38(2):123-130.]
[12] Jilkov V P,Li X R,Ru J F. Modeling ballistic target motion during boost for tracking[J]. Signal and Data Processing of Small Targets,2007:1-12.
[13] Duan Z,Li X R. Modeling of target motion constrained on straight line[J]. IEEE Transactions on Aerospace&Electronic Systems,2016,52(2):548-562.
[14]王国宏,李俊杰,张翔宇,等.临近空间高超声速滑跃式机动目标的跟踪模型[J].航空学报,2015,36(7):2400-2410.[Wang Guo-hong,Li Jun-jie,Zhang Xiang-yu,et al. A tracking model for near space hypersonic slippage leap maneuvering target[J]. Acta Aeronautica et Astronautica Sinica,2015,36(7):2400-2410.]
[15] Li X R,Jilkov V P. Survey of maneuver target tracking. Part I:dynamic models[J]. IEEE Transactions on Aerospace and Electronic Systems,2003,39(4):1333-1364.
[16] Li X R,Jilkov V P. A survey of maneuvering target tracking.Part II:ballistic target models[J]. Signal and Data Processing of Small Targets,2001:423-446.
[17] Jilkov V P, Angelova D S. Performance evaluation and comparison of variable structure multiple-model algorithms for tracking maneuvering radar targets[C]. 26th European Microwave Conference,Prague,Czech Republic,Sep 6-13,1996.
[18] Duan Z,Li X R. Constrained target motion modeling-Part II:Circular track[C]. 16th International Conference on Information Fusion. Iitanbul,Turkey,Jul 9-12,2013.
[19]张翔宇,王国宏,张静,等.临近空间高超声速助推-滑翔式轨迹目标跟踪[J].宇航学报,2015,36(10):1125-1132.[Zhang Xiang-yu,Wang Guo-hong,Zhang Jing,et al. Tracking of hypersonic boost-to-glide trajectory target in near-space[J].Journal of Astronautics,2015,36(10):1125-1132.]
[20]李广华,张洪波,汤建国.高超声速滑翔飞行器典型弹道特性分析[J].宇航学报,2015,36(4):397-403.[Li Guang-hua,Zhang Hong-bo,Tang Jian-guo. Typical trajectory characteristics of hypersonic glide vehicle[J]. Journal of Astronautics,2015,36(4):397-403.