空间目标模糊平方根容积卡尔曼滤波定位算法
|
摘要
天基仅测角卫星定位问题属于强非线性滤波问题,复杂的空间环境所导致的噪声统计特性不确定,使得传统滤波算法精度降低。为提高跟踪精度,采用模糊梯形可能性分布代替精确高斯概率分布,对过程噪声和量测嗓声进行描述,在平方根容积卡尔曼滤波(SCKF)的基础上,推导了模糊平方根容积卡尔曼滤波(FS-CKF)算法。克服了SCKF对高斯噪声特性精确已知的约束,有效拓展了CKF的应用范围。仿真比较了FS-CKF与SCKF在空间目标定位问题中的性能,仿真结果表明FS-CKF算法的位置、速度收敛时间分别提高了32.52%和18.28%,收敛精度分别提高了12.52%和42.65%,验证了算法的有效性。
The tracking of spatial target based on bearing-only measurements belongs to the nonlinear model of serious. Uncertain statistical characteristics of noise, which is caused by complex space environment, leads to reduced accuracy of traditional methods. The fuzzy square-root cubature Kalman filter was presented(FS-CKF) by introducing the thought of fuzzy in square-root cubature Kalman filter(SCKF).The algorithm which uses trapezoid subordinate function to describe noise gets rid of the limitations of traditional methods and broadens the range of SCKF. The result of simulation shows that the convergence speed of FS-CKF was 32.52% and 18.28% faster than SCKF on position and velocity respectively, and the accuracy of FS-CKF was 12.52% and 42.65% higher than SCKF on position and velocity respectively.
The tracking of spatial target based on bearing-only measurements belongs to the nonlinear model of serious. Uncertain statistical characteristics of noise, which is caused by complex space environment, leads to reduced accuracy of traditional methods. The fuzzy square-root cubature Kalman filter was presented(FS-CKF) by introducing the thought of fuzzy in square-root cubature Kalman filter(SCKF).The algorithm which uses trapezoid subordinate function to describe noise gets rid of the limitations of traditional methods and broadens the range of SCKF. The result of simulation shows that the convergence speed of FS-CKF was 32.52% and 18.28% faster than SCKF on position and velocity respectively, and the accuracy of FS-CKF was 12.52% and 42.65% higher than SCKF on position and velocity respectively.
引文
[1]李雁斌,江利中,黄勇.天基目标探测与监视系统发展研究[J].制导与引信,2013,33(3):50-60.LI Yan-bin,JIANG Li-zhong,HUANG Yong.Development Research on Space-based Target Detection and Surveillance System[J].GUIDANCE&FUZE,2013,33(3):50-60.
[2]王力波.美国空间对抗新思维与装备技术发展新动向[J].航天电子对抗,2012,28(5):13-15.Wang Libo.New development of US counterspace strategy and technologies[J].Aerospace Electronic Warfare,2012,28(5):13-15.
[3]刘也,刘磊,曹建峰,等.单天基平台测向的空间非合作目标跟踪[J].飞行器测控学报,2014,33(4):328-333.LIU Ye,LIU Lei,CAO Jianfeng,et al.Bearing-only Tracking of Non-cooperative Space Objects by a Single Soace-Based Platform[J].Journal of Spacecraft TT&C Technology,2014,33(4):328-333.
[4]吴顺华,辛勤,万建伟.对卫星目标的仅测角天基单站无源定位可观测性分析[J].航空学报,2009,30(1):104-108.Wu Shunhua,Xin Qin,Wang Jianwei.Observability Analysis of Bearings-only Passive Location for Satellite Target by Spaceborne Single Observer[J].Acta Aeronautica et Astronautica Sinica,2009,30(1):104-108.
[5]Xu T,Zhu X,Yang J.Research on Maneuvering Target Tracking Algorithm with Bearing Only Measurements[C]//Proceedings of the 2012 Third International Conference on Mechanic Automation and Control Engineering.IEEE Computer Society,2012:2432-2436.
[6]李恒年.卫星机动轨道确定[M].北京:国防工业出版社,2013:75-95.LI H N.Orbit Determination for Maneuvering Satellite[M].Beijing:National Defense Industry Press,2013:75-95.
[7]刘光明.基于天基测角信息的空间非合作目标跟踪算法及相关技术研究[D].长沙:国防科学技术大学,2011:26-30.Liu Guangming.Research on Non-cooperative Target Tracking Algorithms and Related Technologies Using Space-based Bearings-only Measurements[D].Changsha:National University of Defense Technology,2011:26-30.
[8]F Matia,A Jimenez,B M Al-Hadithi,et al.The fuzzy Kalman filter:State Estimation Using Possibilistic Techniques[J].Fuzzy Sets and Systems(S0165-0114),2006,157(16):2145-2170.
[9]Longo D,Muscato,Sacco V.Localization Using Fuzzy and Kalman Filtering Data Fusion[C]//Proceedings of the5th International Conference on Climbing and Walking Robots,Paris,France,2002:263-270.
[10]L Jetto,S Longhi,G Venturini.Development and Experimental Validation of an Adaptive Extended Kalman Filter for the Localization of Mobile Robot[J].IEEE Trans.Robotics Automat(S1042-296X),1999,15(2):219-229.
[11]Zhijie Zhou,Changhua Hu,Hongdong Fang,et al.Fault Prediction of the Nonlinear Systems with Uncertainty[J].Simulation Modeling Practice and Theory(S1569-190X),2008,16(6):690-700.
[12]徐田来,游文虎,崔平远.基于模糊自适应卡尔曼滤波的INS/GPS组合导航系统算法研究[J].宇航学报,2005,26(5):571-575.XU Tian-lai,YOU Wen-hu,CUI Ping-yuan.Research on GPS/INS Integrated Navigation System Based on Fuzzy Adaptive Kalman Filtering[J].Journal of Astronautics,2005,26(5):571-575.
[13]何友,田淑荣,孙校书.一种基于随机集的模糊观测的多目标跟踪算法[J].宇航学报,2008,29(6):2007-2012.HE You,TIAN Shu-rong,SUN Xiao-shu.Random Sets-Based Multi-target Tracking with Ambiguous Measurenments[J].Journal of Astronautics,2008,29(6):2007-2012.
[14]占荣辉,张军,欧建平,等.非线性滤波理论与目标跟踪应用[M].北京:国防工业出版社,2013:75-95.Zhan Ronghui,Zhang Jun,Ou Jianping,et al.Nonlinear Filtering Theory with Target Tracking Application[M].Beijing:National Defense Industry Press,2013:75-95.
[15]Arasaratnam I,Haykin S.Cubature kalman Filters[J].Automatic Control,IEEE Transactions on(S0018-9286),2009,54(6):1254-1269.
[16]Hao Y L,Yang J W,Chen L,et al.Square root Cubature Kalman filter[J].Journal of Projectiles,Rockets,Missiles and Guidance(S1673-9728),2012,32(2):169-172.
[17]万中,梁文冬,卢宗娟.模糊数的隶属度区间分布函数[J].重庆理工大学学报(自然科学版),2011,25(1):107-112.WAN Zhong,LIANG Wen-dong,LIU Zong juan.Studyon Membership Interval Distribution Function for Fuzzy Sets[J].Journal of Chongqing University of Technology(Natural Science),2011,25(1):107-112.
[2]王力波.美国空间对抗新思维与装备技术发展新动向[J].航天电子对抗,2012,28(5):13-15.Wang Libo.New development of US counterspace strategy and technologies[J].Aerospace Electronic Warfare,2012,28(5):13-15.
[3]刘也,刘磊,曹建峰,等.单天基平台测向的空间非合作目标跟踪[J].飞行器测控学报,2014,33(4):328-333.LIU Ye,LIU Lei,CAO Jianfeng,et al.Bearing-only Tracking of Non-cooperative Space Objects by a Single Soace-Based Platform[J].Journal of Spacecraft TT&C Technology,2014,33(4):328-333.
[4]吴顺华,辛勤,万建伟.对卫星目标的仅测角天基单站无源定位可观测性分析[J].航空学报,2009,30(1):104-108.Wu Shunhua,Xin Qin,Wang Jianwei.Observability Analysis of Bearings-only Passive Location for Satellite Target by Spaceborne Single Observer[J].Acta Aeronautica et Astronautica Sinica,2009,30(1):104-108.
[5]Xu T,Zhu X,Yang J.Research on Maneuvering Target Tracking Algorithm with Bearing Only Measurements[C]//Proceedings of the 2012 Third International Conference on Mechanic Automation and Control Engineering.IEEE Computer Society,2012:2432-2436.
[6]李恒年.卫星机动轨道确定[M].北京:国防工业出版社,2013:75-95.LI H N.Orbit Determination for Maneuvering Satellite[M].Beijing:National Defense Industry Press,2013:75-95.
[7]刘光明.基于天基测角信息的空间非合作目标跟踪算法及相关技术研究[D].长沙:国防科学技术大学,2011:26-30.Liu Guangming.Research on Non-cooperative Target Tracking Algorithms and Related Technologies Using Space-based Bearings-only Measurements[D].Changsha:National University of Defense Technology,2011:26-30.
[8]F Matia,A Jimenez,B M Al-Hadithi,et al.The fuzzy Kalman filter:State Estimation Using Possibilistic Techniques[J].Fuzzy Sets and Systems(S0165-0114),2006,157(16):2145-2170.
[9]Longo D,Muscato,Sacco V.Localization Using Fuzzy and Kalman Filtering Data Fusion[C]//Proceedings of the5th International Conference on Climbing and Walking Robots,Paris,France,2002:263-270.
[10]L Jetto,S Longhi,G Venturini.Development and Experimental Validation of an Adaptive Extended Kalman Filter for the Localization of Mobile Robot[J].IEEE Trans.Robotics Automat(S1042-296X),1999,15(2):219-229.
[11]Zhijie Zhou,Changhua Hu,Hongdong Fang,et al.Fault Prediction of the Nonlinear Systems with Uncertainty[J].Simulation Modeling Practice and Theory(S1569-190X),2008,16(6):690-700.
[12]徐田来,游文虎,崔平远.基于模糊自适应卡尔曼滤波的INS/GPS组合导航系统算法研究[J].宇航学报,2005,26(5):571-575.XU Tian-lai,YOU Wen-hu,CUI Ping-yuan.Research on GPS/INS Integrated Navigation System Based on Fuzzy Adaptive Kalman Filtering[J].Journal of Astronautics,2005,26(5):571-575.
[13]何友,田淑荣,孙校书.一种基于随机集的模糊观测的多目标跟踪算法[J].宇航学报,2008,29(6):2007-2012.HE You,TIAN Shu-rong,SUN Xiao-shu.Random Sets-Based Multi-target Tracking with Ambiguous Measurenments[J].Journal of Astronautics,2008,29(6):2007-2012.
[14]占荣辉,张军,欧建平,等.非线性滤波理论与目标跟踪应用[M].北京:国防工业出版社,2013:75-95.Zhan Ronghui,Zhang Jun,Ou Jianping,et al.Nonlinear Filtering Theory with Target Tracking Application[M].Beijing:National Defense Industry Press,2013:75-95.
[15]Arasaratnam I,Haykin S.Cubature kalman Filters[J].Automatic Control,IEEE Transactions on(S0018-9286),2009,54(6):1254-1269.
[16]Hao Y L,Yang J W,Chen L,et al.Square root Cubature Kalman filter[J].Journal of Projectiles,Rockets,Missiles and Guidance(S1673-9728),2012,32(2):169-172.
[17]万中,梁文冬,卢宗娟.模糊数的隶属度区间分布函数[J].重庆理工大学学报(自然科学版),2011,25(1):107-112.WAN Zhong,LIANG Wen-dong,LIU Zong juan.Studyon Membership Interval Distribution Function for Fuzzy Sets[J].Journal of Chongqing University of Technology(Natural Science),2011,25(1):107-112.