距离跟踪α-β-γ滤波器
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摘要
近年来，数字技术大大促进了雷达技术的发展。目标跟踪问题是雷达技术的一
个重要问题，在军事和民用领域，如空防和空中交通管制中，可靠而精确地跟踪目
标始终是目标跟踪系统设计的主要目的。α-β和α-β-γ滤波器作为卡尔曼滤波
的简化子集，因其计算量小、精度较高、对机动的反应速度快等优点，在雷达跟踪
系统中得到了广泛的应用。本文以机载脉冲多普勒雷达为背景，为了准确、有效、
稳定地跟踪机动目标，研究了α-β-γ滤波器的应用问题：
第一、从机动目标模型入手，讨论了微分多项式模型、CV和CA模型、时间
相关模型、半马尔可夫模型、Noval统计模型、机动目标“当前”统计模型等模型
及其优劣。
第二、讨论了各种基本的滤波和预测方法，即线性自回归滤波、两点外推滤波、
维纳滤波、加权最小二乘滤波、α-β和α-β-γ滤波、卡尔曼滤波和简化卡尔曼
滤波等，并对上述方法进行了性能评价。
第三、就机动目标跟踪中的自适应滤波进行了讨论，介绍了检测自适应滤波、
实时辨识自适应滤波、全面自适应滤波，得到了比较和总结。
第四、重点介绍了α-β和α-β-γ滤波器及其指标和参数选择。
最后、进行了计算机仿真实验并得到了相应的结论。
本文对数字处理系统与跟踪伺服系统的关系、跟踪坐标系的变换、多目标跟踪、
数据融合等问题未能涉及。
Recently, digital technology has greatly accelerated the
development in
radar technology. Tracking target is one of the important
problems in radar
technology, in both military and civilian fields, for instance,
in air defense
and in air膖raffic control, tracking target in a reliable and
accurate mode
has always been the main objective in the design of target
tracking system.
a ?P &. a ??y filters , as simplified Kalman filters, have
been widely used
in radar tracking system because of its advantages of low
computation, high
precision and quick response when target maneuvering. In this
paper , for
Airborne Pulse Doppler radar, and to state it succinctly,
accurately and
stably of tracking target, a ?P &. a ?P ?y filters and its
application
problems have been studied:
Firstly, starting with models of maneuvering targets, this paper
has
discussed the following models and there advantages or
shortcomings:
differential polynomial model, CV and CA models, time腸orrelated
model,
semi腗arkov model, Noval statistical model and current
statistical model;
Secondly, various basic methods of tracking filtering and
prediction have
been discussed such as Liner Regression filter, Two膒oint
Extrapolator,
Wiener filter, Weighted Least膕quare filter, a ?~ &. a ?P ?y
filters,
Kalman filter, simplification Kalman filter as well. And their
performances
have also been evaluated;
Thirdly, adaptive filtering problem of target tracking has been
discussed,
and detection adaptive filtering, real膖ime adaptive filtering,
overall
adaptive filtering have been introduced. Comparison and
conclusion have been
made;
Fourthly, a ?$ &. a ?P ?Y filters and their specifications and
parameters selection have been emphasized in this paper;
Last, computer膕imulation experiments have been carried out, and
the
corresponding conclusions are available.
In this paper, the relationship between digital processing system
and
tracking servo system, tracking coordinate transformation,
multiple targets
tracking and data fusion are not involved.
个重要问题，在军事和民用领域，如空防和空中交通管制中，可靠而精确地跟踪目
标始终是目标跟踪系统设计的主要目的。α-β和α-β-γ滤波器作为卡尔曼滤波
的简化子集，因其计算量小、精度较高、对机动的反应速度快等优点，在雷达跟踪
系统中得到了广泛的应用。本文以机载脉冲多普勒雷达为背景，为了准确、有效、
稳定地跟踪机动目标，研究了α-β-γ滤波器的应用问题：
第一、从机动目标模型入手，讨论了微分多项式模型、CV和CA模型、时间
相关模型、半马尔可夫模型、Noval统计模型、机动目标“当前”统计模型等模型
及其优劣。
第二、讨论了各种基本的滤波和预测方法，即线性自回归滤波、两点外推滤波、
维纳滤波、加权最小二乘滤波、α-β和α-β-γ滤波、卡尔曼滤波和简化卡尔曼
滤波等，并对上述方法进行了性能评价。
第三、就机动目标跟踪中的自适应滤波进行了讨论，介绍了检测自适应滤波、
实时辨识自适应滤波、全面自适应滤波，得到了比较和总结。
第四、重点介绍了α-β和α-β-γ滤波器及其指标和参数选择。
最后、进行了计算机仿真实验并得到了相应的结论。
本文对数字处理系统与跟踪伺服系统的关系、跟踪坐标系的变换、多目标跟踪、
数据融合等问题未能涉及。
Recently, digital technology has greatly accelerated the
development in
radar technology. Tracking target is one of the important
problems in radar
technology, in both military and civilian fields, for instance,
in air defense
and in air膖raffic control, tracking target in a reliable and
accurate mode
has always been the main objective in the design of target
tracking system.
a ?P &. a ??y filters , as simplified Kalman filters, have
been widely used
in radar tracking system because of its advantages of low
computation, high
precision and quick response when target maneuvering. In this
paper , for
Airborne Pulse Doppler radar, and to state it succinctly,
accurately and
stably of tracking target, a ?P &. a ?P ?y filters and its
application
problems have been studied:
Firstly, starting with models of maneuvering targets, this paper
has
discussed the following models and there advantages or
shortcomings:
differential polynomial model, CV and CA models, time腸orrelated
model,
semi腗arkov model, Noval statistical model and current
statistical model;
Secondly, various basic methods of tracking filtering and
prediction have
been discussed such as Liner Regression filter, Two膒oint
Extrapolator,
Wiener filter, Weighted Least膕quare filter, a ?~ &. a ?P ?y
filters,
Kalman filter, simplification Kalman filter as well. And their
performances
have also been evaluated;
Thirdly, adaptive filtering problem of target tracking has been
discussed,
and detection adaptive filtering, real膖ime adaptive filtering,
overall
adaptive filtering have been introduced. Comparison and
conclusion have been
made;
Fourthly, a ?$ &. a ?P ?Y filters and their specifications and
parameters selection have been emphasized in this paper;
Last, computer膕imulation experiments have been carried out, and
the
corresponding conclusions are available.
In this paper, the relationship between digital processing system
and
tracking servo system, tracking coordinate transformation,
multiple targets
tracking and data fusion are not involved.
引文
[1]《机动目标跟踪》周宏仁等著
[2]《雷达数据数字处理》孙仲康编著
[3]《雷达数字测距器》张林著
[4]《机载脉冲多普勒雷达》[美国]盖·莫里斯等著
[5]《ADAPTIVE FILTER THEORY))[美国]Simon Haykin著
[6]《XXXX雷达技术说明书》景占荣等
[7]《A Generalized Parameter for α-βandα-β-γTarget Trackers》Paul R.Kalata IEEE Transactions on Aerospace and Electronic System VOL.AES-20,NO.2
[8]《α—β滤波器对机动目标的最佳跟踪性能研究》王三民著
[9]《化形α—β—γ跟踪滤波器的自适应相关区计算》张义杰著
[10]卡尔曼滤波在雷达跟踪系统中的应用专辑，苏志信等《空载雷达》1976第3期
[11] 《Maneuver-Driven α-βandα-β-γ Tracking Filter》JOHN J. SUDANO IEEE Transactions on Aerospace and Electronic System VOL.31,NO. 1 JAN. 1995
[12]《MATLAB 5．X程序设计语言》楼顺天等编著
[13]《基于MATLAB的系统分析与设计——控制系统》楼顺天等编著
[14]《基于MATLAB的系统分析与设计——信号处理》楼顺天等编著
[15]《MATLAB工程数学应用》许波等编著
[2]《雷达数据数字处理》孙仲康编著
[3]《雷达数字测距器》张林著
[4]《机载脉冲多普勒雷达》[美国]盖·莫里斯等著
[5]《ADAPTIVE FILTER THEORY))[美国]Simon Haykin著
[6]《XXXX雷达技术说明书》景占荣等
[7]《A Generalized Parameter for α-βandα-β-γTarget Trackers》Paul R.Kalata IEEE Transactions on Aerospace and Electronic System VOL.AES-20,NO.2
[8]《α—β滤波器对机动目标的最佳跟踪性能研究》王三民著
[9]《化形α—β—γ跟踪滤波器的自适应相关区计算》张义杰著
[10]卡尔曼滤波在雷达跟踪系统中的应用专辑，苏志信等《空载雷达》1976第3期
[11] 《Maneuver-Driven α-βandα-β-γ Tracking Filter》JOHN J. SUDANO IEEE Transactions on Aerospace and Electronic System VOL.31,NO. 1 JAN. 1995
[12]《MATLAB 5．X程序设计语言》楼顺天等编著
[13]《基于MATLAB的系统分析与设计——控制系统》楼顺天等编著
[14]《基于MATLAB的系统分析与设计——信号处理》楼顺天等编著
[15]《MATLAB工程数学应用》许波等编著