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针对仅有角度测量的双机协同三维机动目标跟踪定位路径规划问题提出基于扩展卡尔曼滤波器(EKF)和定位精度几何分布(GDOP)的优化算法。在建立双机协同被动跟踪EKF的基础上分别从交互信息与协方差控制入手建立指标函数。利用向量概念推导出了双机协同被动目标定位的GDOP计算公式,并建立了基于GDOP的指标函数。利用目标状态的一步预测给出了基于不同指标函数的数值解法。仿真表明,基于EKF的指标函数在在目标机动时性能较差,而基于GDOP的指标则在目标机动时表现出良好性能。
An optimization algorithm based on extended Kalman filter (EKF) and positioning accuracy geometric distribution (GDOP) is proposed for the two-machine coordinated three-dimensional maneuvering target tracking and locating path planning with only angle measurement. Based on the establishment of dual-machine collaborative passive tracking EKF, we establish the index function from the interactive information and covariance control respectively. Using the concept of vector, the GDOP calculation formula of dual-machine coordinated passive target locating is deduced and an index function based on GDOP is established. Using the one-step prediction of the target state, numerical solutions based on different index functions are given. The simulation shows that the EKF-based indicator function performs poorly when the target is maneuvering while the GDOP-based indicator shows good performance when the maneuvering target is active.