摘要
随着不完全量测条件下探测概率的下降,传统光电跟踪系统的跟踪性能显著降低。为此,本文考虑将俯仰和偏航两个方向的角速度量测引入传统光电跟踪系统,并设计了不完全量测下基于置信度融合的目标跟踪滤波器。首先针对这类新型的光电跟踪系统建立了系统的量测模型,利用嵌套条件方法推导了转换量测误差前两阶矩的一致性估计;然后针对位置探测通道与角速度探测通道的4种数据探测情形设计了4个子滤波器,并根据探测通道的探测情况计算出各子滤波器的置信度,进而对各子滤波器的输出按置信度进行加权融合,得到了跟踪滤波器的全局输出;最后给出了非线性跟踪系统统计意义下的Cramer-Rao下界(CRLB)。Monte-Carlo仿真表明:在不完全量测下,相比传统光电跟踪系统,附加角速度量测的光电跟踪系统的跟踪性能有了显著提高,并且滤波器估计误差均方差(RMSE)已逼近非线性跟踪系统统计意义下的CRLB。
The tracking performance of traditional optic-electric tracking systems degenerates significantly when there is a drop of detection probability with intermittent observation. This article introduces the innovative angle velocity measurements of elevation and azimuth into the traditional optic-electric tracking system, and then designs a filter for target tracking based on confidence weighted fusion with intermittent observation. First, a measurement model for the new type of optic-electric tracking system is built, and then using the nested conditioning method, the consistent estimate of the first two moments of the converted measurement errors is derived. Second, for the four different detection cases of position and velocity detection channels, four sub-filters are designed respectively whose confidences are calculated based on the detection cases of the channels, and then the output of the tracking filter is obtained by means of weighting the outputs of sub-filters with the corresponding confidences. Finally, the statistic average of Cramer-Rao low bound （CRLB） for the nonlinear tracking system is presented. Monte-Carlo simulation results show that, with intermittent observation, the performance of an optic-electric tracking system with angle velocity measurements can be significantly improved as compared with that of the traditional systems. Moreover, the root mean square of estimate error （RMSE） of the designed tracking filter is close to the average CRLB of nonlinear tracking systems.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2009年第9期1745-1753,共9页
Acta Aeronautica et Astronautica Sinica
基金
国家自然科学基金(60804019)
关键词
状态估计
光电跟踪系统
不完全量测
角速度量测
CRAMER-RAO下界
state estimation
optic-electric tracking system
intermittent observation
angle velocity measure- ment
Cramer-Rao low bounds
