一种具有角速度量测的多站无源目标跟踪方法
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摘要
为提高多站无源目标跟踪系统的跟踪性能,将无源目标跟踪系统获取的目标角速度测量表示为目标在笛卡尔坐标系下位置与速度的非线性形式,进而提出了一种同时利用目标角度和角速度量测来提高被动跟踪精度的方法。结合Cramer-Rao下界理论,分析了在利用角速度量测信息后无源目标跟踪系统跟踪性能的改善情况。基于不敏卡尔曼非线性状态估计方法,给出了具有角速度多站无源跟踪方法的一种具体实现流程。仿真与试验结果表明,具有角速度量测的无源跟踪系统具有更优目标运动参数的估计精度。
A tracking method with velocity measurement is proposed to improve the performance of passive target tracking of multi-observation stations. The angular velocity measurements are presented in the nonlinear forms of target's position and velocity in Cartesian coordinate. The tracking performance of passive target tracking system after using angular velocity measurement is analyzed with Cramer-Rao lower bound. An implement process of passive target tacking is presented based on unscented Kalman filtering method. Simulated and experimental results show that the passive target tracking system with angular velocity measurement improves the estimation accuracy of target motion parameters.
A tracking method with velocity measurement is proposed to improve the performance of passive target tracking of multi-observation stations. The angular velocity measurements are presented in the nonlinear forms of target's position and velocity in Cartesian coordinate. The tracking performance of passive target tracking system after using angular velocity measurement is analyzed with Cramer-Rao lower bound. An implement process of passive target tacking is presented based on unscented Kalman filtering method. Simulated and experimental results show that the passive target tracking system with angular velocity measurement improves the estimation accuracy of target motion parameters.
引文
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[10]陈黎,戚国庆,盛安冬.具有角速度测量的光电跟踪系统分析[J].兵工学报,2009,30(10):1320-1326.CHEN L,QI G Q,SHENG A D. Analysis on optic-electric tracking system with angle velocity measurement[J]. Acta Armamentarii,2009,30(10):1320-1326.(in Chinese)
[2] LI L Q,XIE W X,LIU Z X. Auxiliary truncated particle filtering with least-square method for bearings-only maneuvering target tracking[J]. IEEE Transactions on Aerospace and Electronic Systems,2016,52(5):2562-2567.
[3] MUICKI D. Bearings only multi-sensor maneuvering target tracking[J]. Systems&Control Letters,2008,57(3):216-221.
[4] MUICKI D. Bearings only single-sensor target tracking using Gaussian mixtures[J]. Automatica,2009,45(9):2088-2092.
[5]李银伢,谭维茜,盛安冬.改进型粒子滤波算法在多站纯方位被动跟踪中的应用[J].控制理论与应用,2011,28(8):1081-1086.LI Y Y,TAN W Q,SHENG A D. Application of improved particle filter algorithm to bearings-only passive tracking in multiple stations[J]. Control Theory&Applications,2011,28(8):1081-1086.(in Chinese)
[6]杨柏胜,姬红兵.基于无迹卡尔曼滤波的被动多传感器融合跟踪[J].控制与决策,2008,23(4):460-463.YANG B S,JI H B. Multi-passive-sensor fusion tracking based on unscented Kalman filter[J]. Control and Decision,2008,23(4):460-463.(in Chinese)
[7]吴小强,潘丽丽.最小二乘法在纯方位目标跟踪中的应用[J].雷达与对抗,2016,36(4):12-14.WU X Q,PAN L L. Application of least square method in bearing only target tracking[J]. Radar&ECM,2016,36(4):12-14.(in Chinese)
[8]胡科强,袁志勇,周浩.双基阵纯方位被动定位跟踪方法[J].舰船科学技术,2012,34(5):83-86.HU K Q,YUAN Z Y,ZHOU H. Methods on the performance of bearing only target tracking based two arrays[J]. Ship Science and Technology,2012,34(5):83-86.(in Chinese)
[9] KIM J H,SUH T,RYU J H. Bearings-only target motion analysis of a highly manoeuvring target[J]. IET Radar,Sonar&Navigation,2017,11(6):1011-1019.
[10]陈黎,戚国庆,盛安冬.具有角速度测量的光电跟踪系统分析[J].兵工学报,2009,30(10):1320-1326.CHEN L,QI G Q,SHENG A D. Analysis on optic-electric tracking system with angle velocity measurement[J]. Acta Armamentarii,2009,30(10):1320-1326.(in Chinese)