平台摇摆对卡尔曼滤波跟踪精度的影响

发布时间：2018-04-02 20:18

本文选题：平台摇摆　切入点：相对运动观测模型　出处：《航空学报》2017年06期

【摘要】：通过建立目标相对运动坐标系和目标相对运动观测模型,研究了在平台摇摆影响下,跟踪系统观测到的目标运动状态的变化。在分析捷联垂直基准补偿原理的基础上建立了捷联垂直基准平台摇摆角补偿模型,建立的模型结合捷联垂直基准系统的测量能力对其补偿算法进行了理论推导,使模型适用于实际捷联垂直基准系统。通过建立模型以及仿真研究了平台摇摆作用下卡尔曼滤波跟踪精度的变化,指出了摆造成卡尔曼滤波跟踪精度降低甚至离散的主要原因在于模型误差增大。设计仿真实验验证了结论的正确性,为进一步改进跟踪手段提供了理论参考。
[Abstract]:By establishing the relative moving coordinate system of the target and the observation model of the relative motion of the target, the changes of the moving state of the target observed by the tracking system under the influence of platform swing are studied.Based on the analysis of the principle of strapdown vertical reference compensation, the swinging angle compensation model of strapdown vertical reference platform is established, and the compensation algorithm is theoretically deduced based on the measurement ability of strapdown vertical reference system.The model is suitable for the practical strapdown vertical reference system.Through modeling and simulation, the change of Kalman filter tracking accuracy under platform swinging is studied. It is pointed out that the main reason that the pendulum causes Kalman filter tracking accuracy decrease or even discrete is the increase of model error.Simulation experiments are designed to verify the correctness of the conclusion, which provides a theoretical reference for further improving the tracking method.
【作者单位】：海军工程大学兵器工程系;
【分类号】：TN713

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