基于IMM-CKF的弹道再入目标跟踪研究
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摘要
该文研究了弹道系数未知的弹道再入目标的跟踪问题。针对现有再入目标跟踪方法对弹道系数初值设定以及噪声协方差的设置比较敏感的问题,采用了数值精度高、稳定性好且计算量较小的求容积卡尔曼滤波(CKF)算法作为跟踪滤波器,并分别设计了由不同弹道系数模型构成的交互式多模型(IMM)算法以及由不同噪声协方差模型组成的IMM算法。仿真结果表明,该文设计的两种IMM算法都能显著提高跟踪精度以及对弹道系数估计的收敛速度。
The tracking of ballistic reentry target with unknown ballistic coefficient was studied in this paper. In view of the problems that the existing reentry target tracking method was both sensitive to the ballistic coefficient initialization and the noise covariance setting,the cubature kalman filter( CKF) algorithm which has high numerical accuracy,good stability and small computation quantity was adopted as filtering,then the IMM algorithms composed of models with different ballistic coefficient and different noise covariance were designed respectively. Computer simulation results showed that the two IMM algorithms designed in this paper could significantly improve the tracking accuracy and the convergence rate of the ballistic coefficient estimation.
The tracking of ballistic reentry target with unknown ballistic coefficient was studied in this paper. In view of the problems that the existing reentry target tracking method was both sensitive to the ballistic coefficient initialization and the noise covariance setting,the cubature kalman filter( CKF) algorithm which has high numerical accuracy,good stability and small computation quantity was adopted as filtering,then the IMM algorithms composed of models with different ballistic coefficient and different noise covariance were designed respectively. Computer simulation results showed that the two IMM algorithms designed in this paper could significantly improve the tracking accuracy and the convergence rate of the ballistic coefficient estimation.
引文
[1]张龙,崔乃刚,王小刚,等.强跟踪-容积卡尔曼滤波在弹道式再入目标跟踪中的应用[J].中国惯性技术学报,2015,23(2):211-218.
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[3]LI X R,JILKOV V P.Survey of maneuvering target tracking.Part II:Motion models of ballistic and space targets[J].IEEE Transactions on Aerospace and Electronic Systems,2010,46(1):96-119.
[4]SINGH N K,BHAUMIK S,BHATTACHARYA S.A comparison of several nonlinear filters for ballistic missile tracking on re-entry[C]∥2016 IEEE First International Conference on Control,Measurement and Instrumentation(CMI),2016:459-463.
[5]JULIER S J,UHLMANN J K.Unscented filtering and nonlinear estimation[C]//Proceedings of the IEEE,2004,92(3):401-422.
[6]程水英.无味变换与无味卡尔曼滤波[J].计算机工程与应用,2008,44(24):25-35.
[7]程水英,张剑云.粒子滤波评述[J].宇航学报,2008,29(4):1099-1111.
[8]ARASARATNAM I,HAYKIN S.Cubature Kalman filters[J].IEEE Transactions on Automatic Control,2009,54(6):1254-1269.
[9]CHEN Hai,SHAN Ganlin.Attitude angle aided IMMCKF algorithm[C]∥IEEE 2011 10th International Conference on Electronic Measurement&Instruments,2011:197-200.
[10]孙钰琛,段凤阳,李赞平.基于平方根容积卡尔曼滤波的SINS大失准角快速对准方法[J].弹箭与制导学报,2014,34(4):25-28.
[11]BAR-SHALOM Y,LI X R,KIRUBARAJAN T.Estimation with applications to tracking and navigation:theory,algorithms and software[M].[S.l.]:John Wiley&Sons Inc.,2001.
[2]CARDILLO G P,MRSTIK A V,PLAMBECK T.A track filter for reentry objects with uncertain drag[J].IEEE Transactions on Aerospace and Electronic Systems,1999,35(2):394-409.
[3]LI X R,JILKOV V P.Survey of maneuvering target tracking.Part II:Motion models of ballistic and space targets[J].IEEE Transactions on Aerospace and Electronic Systems,2010,46(1):96-119.
[4]SINGH N K,BHAUMIK S,BHATTACHARYA S.A comparison of several nonlinear filters for ballistic missile tracking on re-entry[C]∥2016 IEEE First International Conference on Control,Measurement and Instrumentation(CMI),2016:459-463.
[5]JULIER S J,UHLMANN J K.Unscented filtering and nonlinear estimation[C]//Proceedings of the IEEE,2004,92(3):401-422.
[6]程水英.无味变换与无味卡尔曼滤波[J].计算机工程与应用,2008,44(24):25-35.
[7]程水英,张剑云.粒子滤波评述[J].宇航学报,2008,29(4):1099-1111.
[8]ARASARATNAM I,HAYKIN S.Cubature Kalman filters[J].IEEE Transactions on Automatic Control,2009,54(6):1254-1269.
[9]CHEN Hai,SHAN Ganlin.Attitude angle aided IMMCKF algorithm[C]∥IEEE 2011 10th International Conference on Electronic Measurement&Instruments,2011:197-200.
[10]孙钰琛,段凤阳,李赞平.基于平方根容积卡尔曼滤波的SINS大失准角快速对准方法[J].弹箭与制导学报,2014,34(4):25-28.
[11]BAR-SHALOM Y,LI X R,KIRUBARAJAN T.Estimation with applications to tracking and navigation:theory,algorithms and software[M].[S.l.]:John Wiley&Sons Inc.,2001.