摘要
针对由激光测距机与精密测角设备组成的光电跟踪系统,为了攫取跟踪系统的冗余测角信息以提升不完全量测下跟踪系统的估计性能,设计了基于验后置信度残差检测的联邦目标跟踪滤波器。依据物理结构将跟踪系统的位置探测通道分解为测距与测角2个探测通道,并对2个探测通道的量测数据分别进行基于验后置信度残差检测的目标状态估计。将估计结果送至融合中心进行信息融合。利用融合结果,并根据探测通道数据可信的验后概率,对探测通道的子滤波器进行信息分配。Monte Carlo仿真表明,在不完全量测下,所提滤波器在不增加系统硬件成本的前提下,通过攫取高采样率下的测角信息,显著改善了跟踪系统的估计性能,并且滤波器估计误差均方差(RMSE)已逼近跟踪系统统计意义下的Cramer Rao下界(CRLB).
For mining the redundant angle information in optic-electric tracking systems composed of laser range finder and precision angle measurement device under intermittent observations,a federal filter was designed on the basis of the posterior confidence residual test algorithm.Firstly,the position detection channel in traditional optic-electric tracking system was decomposed into two independent detection channels according to physical structure.Then,the target motion states were estimated by use of the detection data of two channels respectively,and a global state estimate was obtained by fusing these two state estimates.Finally,the information sharing of the federal filter was done according to the global state estimate and the posterior confidence of detection channels.Monte Carlo simulation and measurement data show that the proposed filter can obviously improve the estimation performance of optic-electric tracking systems by mining redundant angle information without increasing any hardware cost,and its root mean square of estimate error（RMSE） is close to the average Cramer Rao low bound（CRLB） of tracking systems.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2011年第7期819-826,共8页
Acta Armamentarii
关键词
飞行器控制、导航技术
状态估计
光电跟踪系统
不完全量测
冗余测角信息
联邦滤波器
control and navigation technology of aerocraft
state estimation
optic-electric tracking system
intermittent observation
redundant angle information
federal filter
