由雷达测量数据求解脱靶量算法研究
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摘要
在靶场试验中，脱靶量对鉴定导弹的性能起着至关重要的作用。本文将以靶场雷达测量得到的导弹和靶标的位置数据为基础，重点研究脱靶量的求解算法。
本文首先以自适应输入模型和“当前”统计Jerk模型为目标模型，采用转换坐标卡尔曼滤波算法对雷达测量数据进行滤波；然后提出了一种交互式多模型自适应滤波算法，在该算法中常速度模型、常加速度模型和自适应输入模型并行工作，目标状态估计是这三种模型交互作用的结果。在实际情况中，当导弹与靶标遭遇时，雷达不能分辨；本文将利用雷达对导弹和靶标的前一段测量数据进行轨迹外推，并根据外推的结果估计出遭遇点的脱靶量。仿真表明，本文提出的脱靶量测量方法能够较好的满足实际应用中所需的精度要求。
The miss distance between the missile and target is very important for people to judge the performance of a missile on the target drone. This thesis mainly discusses the measurements of miss distance based on the data of the missile and target obtained by radar detecting and capturing.
Combining Debiased Statistics of 3-dimensional Converted Measurements, Two filtering algorithms for data processing are developed based on the Adaptive Input Statistics Model and "Current" statistical Jerk Model. Besides a new Interacting Multiple Model Adaptive Filtering Algorithm is presented. In this algorithm, constant velocity model, constant acceleration model and adaptive input staticatics model are running in parallel. Target status estimation is the result of interacting of these three models. During the course of the intersection between the missile and target, it is difficult for radar to distinguish them. But we can estimate the coordinate of the intersection point by extrapolation technique based on the foregoing data of the missile and target obtained by radar detecting, consequently the miss distance can be estimated. The results of simulations demonstrate that the method of this thesis can meet the demands in accuracy of practical use.
本文首先以自适应输入模型和“当前”统计Jerk模型为目标模型，采用转换坐标卡尔曼滤波算法对雷达测量数据进行滤波；然后提出了一种交互式多模型自适应滤波算法，在该算法中常速度模型、常加速度模型和自适应输入模型并行工作，目标状态估计是这三种模型交互作用的结果。在实际情况中，当导弹与靶标遭遇时，雷达不能分辨；本文将利用雷达对导弹和靶标的前一段测量数据进行轨迹外推，并根据外推的结果估计出遭遇点的脱靶量。仿真表明，本文提出的脱靶量测量方法能够较好的满足实际应用中所需的精度要求。
The miss distance between the missile and target is very important for people to judge the performance of a missile on the target drone. This thesis mainly discusses the measurements of miss distance based on the data of the missile and target obtained by radar detecting and capturing.
Combining Debiased Statistics of 3-dimensional Converted Measurements, Two filtering algorithms for data processing are developed based on the Adaptive Input Statistics Model and "Current" statistical Jerk Model. Besides a new Interacting Multiple Model Adaptive Filtering Algorithm is presented. In this algorithm, constant velocity model, constant acceleration model and adaptive input staticatics model are running in parallel. Target status estimation is the result of interacting of these three models. During the course of the intersection between the missile and target, it is difficult for radar to distinguish them. But we can estimate the coordinate of the intersection point by extrapolation technique based on the foregoing data of the missile and target obtained by radar detecting, consequently the miss distance can be estimated. The results of simulations demonstrate that the method of this thesis can meet the demands in accuracy of practical use.
引文
1 宋文尧，张牙．卡尔曼滤波[M]．北京：科学技术出版社，1991
2 蒋志凯．数字滤波与卡尔曼滤波[M]．北京：科学技术出版社，1993
3 戴树荪．数字技术在雷达中的应用[M]．北京：国防工业出版社，1981
4 孙仲康．雷达数据数字处理[M]．北京：国防工业出版社，1983
5 A．费利那，F．A．斯塔德．雷达数据处理(第一卷)[M]．北京：国防工业出版社，1988
6 周宏仁，敬忠良，王培德．机动目标跟踪[M]．北京：国防工业出版社，1991
7 蔡庆宇，薛毅，张伯彦．相控阵雷达数据处理及其仿真技术[M]．北京：国防工业出版社，1997
8 丁鹭飞，耿富录．雷达原理[M]．陕西：西安电子科技大学出版社，1995
9 M．I．斯科尔尼克．雷达手册[M]．北京：国防工业出版社，1978
10 贾鸿志．雷达信号分析[M]．江苏：南京理工大学，1995
11 王启才．信号检测与估计[M]．江苏：华东工学院，1988
12 王国玉，肖顺平，汪连栋．电子系统建模仿真与评估[M]．湖南：国防科技大学出版社，2000
13 同济大学数学教研室主编．高等数学(第三版)[M]．北京：高等教育出版社，1995
14 颜庆津．数值分析[M]．北京：北京航天航空大学出版社，2000
15 盛骤，谢式千，潘承毅．概率论与数理统计[M]．北京：高等教育出版社，1999
16 施妙根，顾丽珍．科学和工程计算基础[M]．北京：清华大学出版社，1999
17 同济大学计算数学教研室．数值分析基础[M]．上海：同济大学出版社，1998
18 常玉龙，葛本年，张再良．Turbo C 2.0实用大全[M]．北京：北京航空航天大学出版社，1994
19 陈进，梁健，杨扬，娄臻亮．科学与工程计算常用算法程序集——C语言版[M]．上海：上海交通大学出版社，1995
20 谭浩强．C程序设计[M]．北京：清华大学出版社，1996
21 Bar-Shalom Y. Multitarget-Multisensor Tracking: Applications and Advances(Vol. Ⅱ)[M]. Norwood: Artech House, 1992
22 Lerro D, Bar-Shalom Y. Tracking With Debiased Consistent Converted
Measurements Versus EKF[J]. IEEE Transactions on Aerospace and Electronic Systems. 1993, 29(3): 1015-1022
23 Bar-Shalom Y, Birmiwal K. Variable Dimension Filter for Maneuvering Target Tracking[J]. IEEE Transactions on Aerospace and Electronic Systems. 1982, 18(5): 621-628
24 Miller K.S, Leskiw D.M. Nonlinear Estimation With Radar Observations[J]. IEEE Transactions on Aerospace and Electronic Systems. 1982, 18(2): 192-200
25 Gholson N.H, Moose R.L. Maneuvering Target Tracking Using Adaptive State Estimation [J]. IEEE Transactions on Aerospace and Electronic Systems. 1977,13(3): 310-316
26 Ramachandra K.V, Srinivasan V.S. Steady State Results for the X,Y,Z Kalman Tracking [J]. IEEE Transactions on Aerospace and Electronic Systems. 1977, 13(4): 419-426
27 Blom H.A.P, Bar-Shalom Y. The Interacting Multiple Model Algorithm for Systems with Markovian Switching Coefficients[J]. IEEE Transactions on Automatic Control. 1988, 33(8): 780-783
28 Li X. R, Bar-Shalom, Y. Performance Prediction of the Interacting Multiple Model Algorithm [J]. IEEE Transactions on Aerospace and Electronic Systems. 1993, 29(3): 755-771
29 Munir A, Atherton D.P. Adaptive Interacting Multiple Model Algorithm for Tracking a Maneuvering Target [J]. IEE Proc.-Radar, Sonar Naving. 1995, 142(1): 11-17
30 Deergha R.K, Dhawas J.A. Parallel Implementation of Radar Tracking Extended Kalman Filters on Transputer Networks [J]. IEEE Transactions on Aerospace and Electronic Systems. 1995, 31(2): 857-862
31 Moose R.L, Vanlandingham H.F, Mccabe D.H. Modeling and Estimation for Tracking Maneuvering Targets[J]. IEEE Transactions on Aerospace and Electronic Systems. 1979, 15(3): 448-455
32 Ramachandra K.V. State Estimation of Maneuvering Targets from Noisy Radar Measurements [J]. IEE Proceedings, Pt.F. 1988, 135(1): 82-84
33 Seong-Taek Park, Jang Gyu Lee. Design of a Practical Tracking Algorithm with Radar Measurements [J]. IEEE Transactions on Aerospace and Electronic Systems. 1988, 34(4): 1337-1344
34 Daeipour E, Bar-Shalom Y. IMM Tracking of Maneuvering Targets in the Presence of Glint [J]. IEEE Transactions on Aerospace and Electronic Systems.1988, 34(3): 996-1003
35 Castella F.R. Multisensor, Multisite Tracking Filter. IEE Proc-Radar, Sonar Naving [J]. 1994, 141(2): 75-82
36 Feng Xingxi, Liu Zuoliang, Shi lie. Maneuvering Target Tracking Using Real-Time Estimation [J]. Proc. Of CIE Int. Conf. Of Radar, Beijing, 1996: 731-734
37 K.Singer. Estimating optimal tracking filter performance for manned manoeuvring target [J]. IEEE Transactions on Aerospace and Electronic Systems. 1970, 6(1): 473-483
38 Kishore Mehrotra, Pravas R. Mahapatra. A Jerk Model for Tracking Highly Maneuvering Targets [J]. IEEE Transactions on Aerospace and Electronic Systems. 1997, 33(4): 1094-1105
39 Zhang Boyan, Cai Qingyu, Yuan Zengren. The Study of a New Method for Tracking Maneuvering Targets[J]. 控制理论与应用．1992，9(3)：215-222
40 吴嗣亮，毛二可．匀加速直线运动目标脱靶量测量方法[J]．电子学报．2000，28(3)：99-100，80
41 杨春玲，倪晋麟，刘国岁，郑全战．转换坐标卡尔曼滤波器的雷达目标跟踪[J]．电子学报．1999，27(3)：121-123
42 陈利斌，佟明安．机动目标跟踪的交互式多模型自适应滤波算法[J]．火力与指挥控制．2000，25(4)：36-38
43 张安民，杨世兴，李志舜．目标跟踪中的混合多模算法：综述[J]．系统工程与电子技术．2001，23(4)：33-35
44 李红艳，李瑞棠，刘琳．自适应多模滤波算法的研究[J]．火控雷达技术．1995，24(3)：74-77
45 陶伟刚，冯新喜，李鸿雁．自适应输入统计模型[J]．现代雷达．2000(4)： 53-57
46 李卫华，刘作良．一种杂波环境下的多目标跟踪算法[J]．空军工程大学学报．2000，1(2)：36-39
47 凌海风，许锦洲，李照顺，钱朴慧．基于“当前”统计模型的综合滤波-参数识别模型[J]．火力指挥与控制．1997，22(2)：21-25
48 潘泉．机动目标跟踪双滤波器模型及自适应算法[J]．控制理论与应用．1995，
12(4)：482-486
49 张锦斌．飞行器相遇过程参数的数据处理方法[J]．无线电工程．1994，24(4)：1-18
50 崔乃刚，林晓辉，奚敏．雷达对再入机动目标跟踪算法研究[J]．宇航学报．1998，19(1)：21-27
51 乔向东，王宝树，李涛，华冠文．一种高度机动目标的“当前”统计Jerk模型[J]．西安电子科技大学学报．2002，29(4)：534-539
2 蒋志凯．数字滤波与卡尔曼滤波[M]．北京：科学技术出版社，1993
3 戴树荪．数字技术在雷达中的应用[M]．北京：国防工业出版社，1981
4 孙仲康．雷达数据数字处理[M]．北京：国防工业出版社，1983
5 A．费利那，F．A．斯塔德．雷达数据处理(第一卷)[M]．北京：国防工业出版社，1988
6 周宏仁，敬忠良，王培德．机动目标跟踪[M]．北京：国防工业出版社，1991
7 蔡庆宇，薛毅，张伯彦．相控阵雷达数据处理及其仿真技术[M]．北京：国防工业出版社，1997
8 丁鹭飞，耿富录．雷达原理[M]．陕西：西安电子科技大学出版社，1995
9 M．I．斯科尔尼克．雷达手册[M]．北京：国防工业出版社，1978
10 贾鸿志．雷达信号分析[M]．江苏：南京理工大学，1995
11 王启才．信号检测与估计[M]．江苏：华东工学院，1988
12 王国玉，肖顺平，汪连栋．电子系统建模仿真与评估[M]．湖南：国防科技大学出版社，2000
13 同济大学数学教研室主编．高等数学(第三版)[M]．北京：高等教育出版社，1995
14 颜庆津．数值分析[M]．北京：北京航天航空大学出版社，2000
15 盛骤，谢式千，潘承毅．概率论与数理统计[M]．北京：高等教育出版社，1999
16 施妙根，顾丽珍．科学和工程计算基础[M]．北京：清华大学出版社，1999
17 同济大学计算数学教研室．数值分析基础[M]．上海：同济大学出版社，1998
18 常玉龙，葛本年，张再良．Turbo C 2.0实用大全[M]．北京：北京航空航天大学出版社，1994
19 陈进，梁健，杨扬，娄臻亮．科学与工程计算常用算法程序集——C语言版[M]．上海：上海交通大学出版社，1995
20 谭浩强．C程序设计[M]．北京：清华大学出版社，1996
21 Bar-Shalom Y. Multitarget-Multisensor Tracking: Applications and Advances(Vol. Ⅱ)[M]. Norwood: Artech House, 1992
22 Lerro D, Bar-Shalom Y. Tracking With Debiased Consistent Converted
Measurements Versus EKF[J]. IEEE Transactions on Aerospace and Electronic Systems. 1993, 29(3): 1015-1022
23 Bar-Shalom Y, Birmiwal K. Variable Dimension Filter for Maneuvering Target Tracking[J]. IEEE Transactions on Aerospace and Electronic Systems. 1982, 18(5): 621-628
24 Miller K.S, Leskiw D.M. Nonlinear Estimation With Radar Observations[J]. IEEE Transactions on Aerospace and Electronic Systems. 1982, 18(2): 192-200
25 Gholson N.H, Moose R.L. Maneuvering Target Tracking Using Adaptive State Estimation [J]. IEEE Transactions on Aerospace and Electronic Systems. 1977,13(3): 310-316
26 Ramachandra K.V, Srinivasan V.S. Steady State Results for the X,Y,Z Kalman Tracking [J]. IEEE Transactions on Aerospace and Electronic Systems. 1977, 13(4): 419-426
27 Blom H.A.P, Bar-Shalom Y. The Interacting Multiple Model Algorithm for Systems with Markovian Switching Coefficients[J]. IEEE Transactions on Automatic Control. 1988, 33(8): 780-783
28 Li X. R, Bar-Shalom, Y. Performance Prediction of the Interacting Multiple Model Algorithm [J]. IEEE Transactions on Aerospace and Electronic Systems. 1993, 29(3): 755-771
29 Munir A, Atherton D.P. Adaptive Interacting Multiple Model Algorithm for Tracking a Maneuvering Target [J]. IEE Proc.-Radar, Sonar Naving. 1995, 142(1): 11-17
30 Deergha R.K, Dhawas J.A. Parallel Implementation of Radar Tracking Extended Kalman Filters on Transputer Networks [J]. IEEE Transactions on Aerospace and Electronic Systems. 1995, 31(2): 857-862
31 Moose R.L, Vanlandingham H.F, Mccabe D.H. Modeling and Estimation for Tracking Maneuvering Targets[J]. IEEE Transactions on Aerospace and Electronic Systems. 1979, 15(3): 448-455
32 Ramachandra K.V. State Estimation of Maneuvering Targets from Noisy Radar Measurements [J]. IEE Proceedings, Pt.F. 1988, 135(1): 82-84
33 Seong-Taek Park, Jang Gyu Lee. Design of a Practical Tracking Algorithm with Radar Measurements [J]. IEEE Transactions on Aerospace and Electronic Systems. 1988, 34(4): 1337-1344
34 Daeipour E, Bar-Shalom Y. IMM Tracking of Maneuvering Targets in the Presence of Glint [J]. IEEE Transactions on Aerospace and Electronic Systems.1988, 34(3): 996-1003
35 Castella F.R. Multisensor, Multisite Tracking Filter. IEE Proc-Radar, Sonar Naving [J]. 1994, 141(2): 75-82
36 Feng Xingxi, Liu Zuoliang, Shi lie. Maneuvering Target Tracking Using Real-Time Estimation [J]. Proc. Of CIE Int. Conf. Of Radar, Beijing, 1996: 731-734
37 K.Singer. Estimating optimal tracking filter performance for manned manoeuvring target [J]. IEEE Transactions on Aerospace and Electronic Systems. 1970, 6(1): 473-483
38 Kishore Mehrotra, Pravas R. Mahapatra. A Jerk Model for Tracking Highly Maneuvering Targets [J]. IEEE Transactions on Aerospace and Electronic Systems. 1997, 33(4): 1094-1105
39 Zhang Boyan, Cai Qingyu, Yuan Zengren. The Study of a New Method for Tracking Maneuvering Targets[J]. 控制理论与应用．1992，9(3)：215-222
40 吴嗣亮，毛二可．匀加速直线运动目标脱靶量测量方法[J]．电子学报．2000，28(3)：99-100，80
41 杨春玲，倪晋麟，刘国岁，郑全战．转换坐标卡尔曼滤波器的雷达目标跟踪[J]．电子学报．1999，27(3)：121-123
42 陈利斌，佟明安．机动目标跟踪的交互式多模型自适应滤波算法[J]．火力与指挥控制．2000，25(4)：36-38
43 张安民，杨世兴，李志舜．目标跟踪中的混合多模算法：综述[J]．系统工程与电子技术．2001，23(4)：33-35
44 李红艳，李瑞棠，刘琳．自适应多模滤波算法的研究[J]．火控雷达技术．1995，24(3)：74-77
45 陶伟刚，冯新喜，李鸿雁．自适应输入统计模型[J]．现代雷达．2000(4)： 53-57
46 李卫华，刘作良．一种杂波环境下的多目标跟踪算法[J]．空军工程大学学报．2000，1(2)：36-39
47 凌海风，许锦洲，李照顺，钱朴慧．基于“当前”统计模型的综合滤波-参数识别模型[J]．火力指挥与控制．1997，22(2)：21-25
48 潘泉．机动目标跟踪双滤波器模型及自适应算法[J]．控制理论与应用．1995，
12(4)：482-486
49 张锦斌．飞行器相遇过程参数的数据处理方法[J]．无线电工程．1994，24(4)：1-18
50 崔乃刚，林晓辉，奚敏．雷达对再入机动目标跟踪算法研究[J]．宇航学报．1998，19(1)：21-27
51 乔向东，王宝树，李涛，华冠文．一种高度机动目标的“当前”统计Jerk模型[J]．西安电子科技大学学报．2002，29(4)：534-539