摘要
针对传统机载对地目标速度估计算法精度低、不能适应目标机动和量测异常等问题,提出了一种基于多传感器融合的机动目标速度估计方法(MFVE)。首先,根据机载光电系统的特性设计了两种传感器组合,建立修正球坐标系(MSC)下的运动学模型和量测模型;然后,设计了一种改进的强跟踪滤波器机动目标跟踪算法,使用卡方检验对目标机动和量测异常进行检测,通过多重渐消因子实现目标机动时的自适应参数调整,增强了算法的鲁棒性;最后,设计了一种多传感器序贯融合滤波算法,实现对目标速度的精确估计。为了评估该方法的性能,针对多种目标及载机运动情况和传感器量测情况进行仿真和试飞验证。仿真试验结果表明,该方法在目标机动以及部分传感器量测异常等实际场景中相对现有算法表现出良好的性能,对匀速目标的测速均方根误差为0.11 m/s,对机动目标的测速均方根误差为0.48 m/s,相对现有算法提升23%以上;试飞实验结果表明,该方法对匀速目标的测速均方根误差为0.22 m/s,对机动目标的测速均方根误差为0.45 m/s。
In order to solve the problems of traditional airborne target velocity estimation algorithm such as the low accuracy and the inadaptability of target maneuver and measurement failure,a multi-sensor fusion velocity estimation method for maneuvering target is proposed.Firstly,according to the characteristics of airborne electro-optical system,two sensor combinations are designed,and the kinematic model in the modified spherical coordinate system(MSC)are established.Then,a maneuvering target tracking algorithm based on improved strong tracking filter is designed,which uses Chi-square test to detect the target maneuver and measurement fault,and multiple fading factors are used to adjust the parameters adaptively to enhance the robustness of the algorithm during target maneuvering.Finally,a multi-sensor sequential fusion filtering algorithm is proposed to achieve accurate estimation of target velocity.In order to evaluate the performance of the method,simulation and flight verification are carried out for various target and aircraft motion and sensor measurement.The simulation test results show that the proposed method has better performance than the existing algorithms in the actual environment such as target maneuver and abnormal measurement,and the RMSE of velocity estimation for constant velocity target is 0.11 m/s,and the RMSE of velocity estimation for maneuvering target is 0.48 m/s,which is more than 23%higher than the existing algorithms.The flight test results show that the RMSE of velocity estimation for constant velocity target is 0.22 m/s,and the RMSE of velocity estimation for maneuvering target is 0.45 m/s。
作者
翟方超
曾庆化
易楠
靳子琪
ZHAI Fangchao;ZENG Qinghua;YI Nan;JIN Ziqi(Navigation Research Center,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Luoyang Institute of Electro-Optical Equipment,AVIC,Luoyang 471009,China)
出处
《中国惯性技术学报》
北大核心
2025年第5期440-447,共8页
Journal of Chinese Inertial Technology
基金
高分辨率对地观测系统重大专项(52-L0D01-0613-20/22)
智慧地球重点实验室基金资助项目(KF2023YB01-10)。
关键词
速度估计
强跟踪滤波
序贯融合
修正球坐标系
velocity Estimation
strong tracking filter
sequential fusion
modified spherical coordinate
