基于卡尔曼滤波的飞行器测控伺服记忆跟踪算法
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摘要
针对目标飞行异常情形下遥测伺服设备记忆跟踪精度低的问题,提出一种基于卡尔曼滤波的记忆跟踪算法。该算法利用卡尔曼滤波减小测量数据失真引入的初始误差,并对滤波后速度和加速度值进行记忆外推。外推数据采用Neville插值,保证记忆跟踪时天线能够平滑运行。仿真结果显示,飞行器飞行异常情形下该算法跟踪角度均方根误差较现有的记忆跟踪算法平均减小39%。
In order to solve the problem that the telemetry servo equipment has a low memory tracking precision when the target flies unconventionally, this paper proposes a memory tracking algorithm based on Kalman filtering. This algorithm uses the Kalman filtering to decrease the initial error caused by the measurement data distortion, adopts the speed and accelerated speed values after filtering for memory extrapolation, and then applies Neville interpolation algorithm on the extrapolated data to make the antenna operate smoothly during the memory tracking course. The simulation result shows that the root-mean-square error of the tracking angles of the algorithm in this paper can decrease 39 percent compared with that of present memory tracking algorithm.
In order to solve the problem that the telemetry servo equipment has a low memory tracking precision when the target flies unconventionally, this paper proposes a memory tracking algorithm based on Kalman filtering. This algorithm uses the Kalman filtering to decrease the initial error caused by the measurement data distortion, adopts the speed and accelerated speed values after filtering for memory extrapolation, and then applies Neville interpolation algorithm on the extrapolated data to make the antenna operate smoothly during the memory tracking course. The simulation result shows that the root-mean-square error of the tracking angles of the algorithm in this paper can decrease 39 percent compared with that of present memory tracking algorithm.
引文
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[8]黄开达.基于卡尔曼滤波的遥测低仰角跟踪技术[J].计算机与数字工程,2014,42(3):386–389.Huang Kaida.Low-angle Tracking Technology of Telementry Based on Kalman Filtering[J].Computer&Digital Engineering,2014,42(3):386–389.
[9]虞旦,韦巍,张远辉.一种基于卡尔曼预测的动态目标跟踪算法研究[J].光电工程,2009,36(1):52–56.Yu Dan,Wei Wei,Zhang Yuanhui.Dynamic Target Tracking with Kalman Filter as Predictor[J].Opto-Electronic Engineering,2009,36(1):52–56.
[10]邱蕾,廖远琴,花向红.基于IGS精密星历的卫星坐标插值[J].测绘工程报,2008,17(4):15–18.Qiu Lei,Liao Yuanqin,Hua Xianghong.Interpolation Methods for Precision Ephemeris Based on IGS[J].Engineering of Surveying and Mapping,2008,17(4):15–18.
[11]田德宇,叶留青.Aitken-Neville-Newton插值法计算过程的等价性[J].河南科学,2007,25(6):885–887.Tian Deyu,Ye Liuqing.Equivalence of Aitken-Neville-Newton Insert Calculating Progresses[J].He Nan Science,2007,25(6):885–887.
[12]周文全,杨天奇.基于Neville型插值的过程神经网络[J].计算机工程与设计,2012,33(7):2787–2791.Zhou Wenquan,Yang Tianqi.Process Neural Network Based on Neville-type Interpolation[J].Computer Engineering and Design,2012,33(7):2787–2791.
[2]陈付彬,孙洪忠,张军.记忆跟踪在HPRF-PD雷达中抗距离遮挡的应用[J].制导与引信,2008,29(3):42–47.Chen Fubin,Sun Hongzhong,Zhang Jun.Application of Memory-Tracking in HPRF-PD Radar with Range-Eclipsing[J].Guidance&Fuze,2008,29(3):42–47.
[3]庞岳峰,李春锋,牛攀峰,等.基于理论弹道匹配外推的飞行器测控记忆跟踪算法[J].电讯技术,2016,56(4):443–447.Pang Yuefeng,Li Chunfeng,Niu Panfeng,et al.A Memory Tracking Algorithm for Spacecraft TT&C Based on Theoretical Trajectory Velocity Matching[J].Telecommunication Engineering,2016,56(4):443–447.
[4]庞岳峰,褚福勇,张凯.遥测接收站角跟踪信号模拟器的设计与实现[J].电子科技,2015,28(2):181–184.Pang Yuefeng,Chu Fuyong,Zhang Kai.Design and Implementation of Angle Tracking Signal Simulator for Telemetry Receiving Station[J].Electronic Science&Technology,2015,28(2):181–184.
[5]Grenon G,An P E,Smitch S M,et al.Enhancement of the Inertial Navigation System for the Morpheus Autonomous Underwater Vehicles[J].IEEE Journal of Oceanic Engineering,2001,26(4):548–560.
[6]何谦,陶敏,丁求启.卡尔曼滤波在船载雷达伺服速率陀螺中的应用[J].遥测遥控,2011,33(1):43–46.He Qian,Tao Min,Ding Qiuqi.Application of Kalman Filter in Rate Gyroscopes of Ship-borne Servo System[J].Journal of Telemetry,Tracking and Command,2011,33(1):43–46.
[7]黄旭方,陈静开,韦义宏.一种基于插值和卡尔曼滤波的接收机钟差预测方法[J].电讯技术,2015,55(5):497–502.Huang Xufang,Chen Jingkai,Wei Yihong.A Method for Receiver Clock Bias Prediction Based on Interpolation and Kalman Filter[J].Telecommunication Engineering,2015,55(5):497–502.
[8]黄开达.基于卡尔曼滤波的遥测低仰角跟踪技术[J].计算机与数字工程,2014,42(3):386–389.Huang Kaida.Low-angle Tracking Technology of Telementry Based on Kalman Filtering[J].Computer&Digital Engineering,2014,42(3):386–389.
[9]虞旦,韦巍,张远辉.一种基于卡尔曼预测的动态目标跟踪算法研究[J].光电工程,2009,36(1):52–56.Yu Dan,Wei Wei,Zhang Yuanhui.Dynamic Target Tracking with Kalman Filter as Predictor[J].Opto-Electronic Engineering,2009,36(1):52–56.
[10]邱蕾,廖远琴,花向红.基于IGS精密星历的卫星坐标插值[J].测绘工程报,2008,17(4):15–18.Qiu Lei,Liao Yuanqin,Hua Xianghong.Interpolation Methods for Precision Ephemeris Based on IGS[J].Engineering of Surveying and Mapping,2008,17(4):15–18.
[11]田德宇,叶留青.Aitken-Neville-Newton插值法计算过程的等价性[J].河南科学,2007,25(6):885–887.Tian Deyu,Ye Liuqing.Equivalence of Aitken-Neville-Newton Insert Calculating Progresses[J].He Nan Science,2007,25(6):885–887.
[12]周文全,杨天奇.基于Neville型插值的过程神经网络[J].计算机工程与设计,2012,33(7):2787–2791.Zhou Wenquan,Yang Tianqi.Process Neural Network Based on Neville-type Interpolation[J].Computer Engineering and Design,2012,33(7):2787–2791.