改进粒子滤波的全捷联导引头制导信息估计
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摘要
针对全捷联导引头无法直接提取视线角速度等制导信息问题,研究了基于改进粒子滤波在制导信息估计中的应用。首先利用坐标变换关系推导了视线角速度解耦公式,并根据弹目相对运动关系建立了系统的状态方程和观测方程;然后考虑到系统测量噪声非高斯以及状态方程和观测方程非线性的特点,提出了基于分层采样的改进粒子滤波视线角速度估计方法;最后,建立了视线角速度估计的半实物仿真实验。结果表明:基于改进粒子滤波算法估计的视线角和角速率优于扩展卡尔曼滤波算法和标准粒子滤波方法,可为新型滑翔制导炸弹的研制提供一定的参考。
As the strap-down infrared image seeker cannot get the line-of-sight( LOS) angular rate directly,the application of improved particle filter( IPF) in LOS angular rate estimation is studied.Based on the relationship of coordinate transformation,the angular velocity decoupling formula is derived;and according to the relative motion relationship between the bomb and the target,the state equation and observation equation are established. Due to the nonlinear characteristics of the system measurement noise non Gauss and the state equation and the observation equation,the LOS angular rate estimation method based on the improved particle filter is proposed. The semi physical simulation experiment of LOS angular rate estimation is established. The results show that the IPF method is better than the extended Kalman filter( EKF) and PF method. IPF method can provide some reference for the new development of gliding guided bomb.
As the strap-down infrared image seeker cannot get the line-of-sight( LOS) angular rate directly,the application of improved particle filter( IPF) in LOS angular rate estimation is studied.Based on the relationship of coordinate transformation,the angular velocity decoupling formula is derived;and according to the relative motion relationship between the bomb and the target,the state equation and observation equation are established. Due to the nonlinear characteristics of the system measurement noise non Gauss and the state equation and the observation equation,the LOS angular rate estimation method based on the improved particle filter is proposed. The semi physical simulation experiment of LOS angular rate estimation is established. The results show that the IPF method is better than the extended Kalman filter( EKF) and PF method. IPF method can provide some reference for the new development of gliding guided bomb.
引文
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[15]欧阳中辉,刘家祺,张龙杰,等.基于矢量运算的三维真比例导引弹道仿真[J].弹箭与制导学报,2013,31(1):53-56.OUYANG Zhong-hui,LIU Jia-qi,ZHANG Long-jie,et al.Simulation of Three-Dimensional TPN Trajectory Based on Vector Operation[J].Journal of Projectiles,Rockets,Missiles and Guidance,2013,31(1):53-56.
[2]JACQUES W.Line-of-Sight Rate Estimation and Linearizing Control of an Imaging Seeker in a Tactical Missile Guided by Proportional Navigation[J].IEEE Transactions on Control Systems Technology,2002,10(4):556-567.
[3]SMITA S,GHOSHAL T K.Sight Line Rate Estimaion in Missile Seeker Using Disturbance Observer-Based Technique[J].IEEE Transactions on Control Systems Tehcnology,2011,19(2):449-454.
[4]曹卫卫.捷联导引头视线角速率估计方法研究[D].南京:南京理工大学,2012.CAO Wei-wei,Study on Estimation Method of Los Rate of Strapdown Seeker[D].Nanjing:Nanjing University of Science and Technology,2012.
[5]袁亦方,林德福,祁载康,等.单兵全捷联图像制导弹药制导信息估计技术[J].红外与激光工程,2015,44(1):370-376.YUAN Yi-fang,LIN De-fu,QI Zai-kang,et al.Techniques on Estimating Guidance Information for Strapdown Image Guided Man Portable Munitions[J].Infrared and Laser Engineering,2015,44(1):370-376.
[6]孙婷婷,储海荣,贾宏光,等.捷联式光学导引头视线角速率解耦与估计[J].红外与激光工程,2014,43(5):1587-1593.SUN Ting-ting,CHU Hai-rong,JIA Hong-guang,et al.Line-of-Sight Angular Rate Decoupling and Estimationof Strapdown Optical Seeker[J].Infrared and Laser Engineering,2014,43(5):1587-1593.
[7]王小刚,胡智勇,于洋,等.基于鲁棒滤波的捷联导引头视线角速度估计方法[J].中国惯性技术学报,2016,24(2):251-256.WANG Xiao-gang,HU Zhi-yong,YU Yang,et al.Lineof-Sight Angular-Rate Estimation of Strapdown Seeker Based on Robust Filter[J].Journal of Chinese Inertial Technology,2016,24(2):251-256.
[8]张韬,张希铭,王民钢.全捷联导引头制导信息滤波算法及仿真[J].西北工业大学学报,2015,33(5):744-749.ZHANG Tao,ZHANG Xi-ming,WANG Min-gang.Algorithm and Simulation for Guidance Information Filter for Strapdown Seekers[J].Journal of Northwestern Polytechnical University,2015,33(5):744-749.
[9]李新国,方群.有翼导弹飞行动力学[M].西安:西北工业大学出版社,2005:28-36.LI Xin-guo,FANG Qun.Winged Missile Flight Dynamics[M].Xi'an:Northwestern Polytechnical University Press,2005:28-36.
[10]鲁天宇,尹健,夏群利,等.基于波束角误差补偿的相控阵导引头解耦算法[J].系统工程与电子技术,2015,37(9):2123-2128.LU Tian-yu,YIN Jian,XIA Qun-li,et al.A Kind of Decoupling Algorithm of Phased Array Seeker Based on Beam Angle Error Compensation[J].Systems Engineering and Electronics,2015,37(9):2123-2128.
[11]ZHANG Guo-jiang,YAO Yu,MA Ke-mao.Line of Sight Rate Estimation of Strapdown Imaging Guidance System Based on Unscented Kalman Filter[C]∥Proceedings of Fourth International Conference on Machine Learning and Cybernetics,Guangzhou 2005:1574-1578.
[12]朱志宇.粒子滤波算法及其应用[M].北京:科学出版社,2010:27-35.ZHU Zhi-yu.Particle Filter and Its Application[M].Beijing:Science Press,2010:27-35.
[13]李伟,曹洁,李军,等.噪声相关粒子滤波算法[J].电子科技大学学报,2016,45(3):436-441.LI Wei,CAO Jie,LI Jun,et al.Particle Filter Algorithm with Correlative Noises[J].Journal of University of Electronic Science and Technology of China,2016,45(3):436-441.
[14]袁宴波,张科,薛晓东.基于Radau伪谱法的制导炸弹最优滑翔弹道研究[J].兵工学报,2014,35(8):1179-1186.YUAN Yan-bo,ZHANG Ke,XUE Xiao-dong.Optimization of Glide Trajectory of Guided Bombs Using a Radau Pseudo-spectral Method[J].Acta Armamentarii,2014,35(8):1179-1186.
[15]欧阳中辉,刘家祺,张龙杰,等.基于矢量运算的三维真比例导引弹道仿真[J].弹箭与制导学报,2013,31(1):53-56.OUYANG Zhong-hui,LIU Jia-qi,ZHANG Long-jie,et al.Simulation of Three-Dimensional TPN Trajectory Based on Vector Operation[J].Journal of Projectiles,Rockets,Missiles and Guidance,2013,31(1):53-56.