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本文介绍雷达探测器在极坐标中以高数据率测量距离、方位和仰角,而在直角坐标系中描述机动目标的卡尔曼滤波器。提出了一个近似增益计算的算法,用来确定在线微处理机实现时的滤波器增益。该方法中,增益是以三个去耦滤波器计算的,并乘以由被测量目标的位置和方向确定的雅可比变换。将这种算法与用于舰船火炮火力控制系统中典型目标航迹的扩展卡尔曼滤波器进行比较,所提出的算法,其滤波器增益和跟踪误差与扩展卡尔曼滤波器近乎一致,而计算量则减少了四分之三。
This article describes a Kalman filter that describes the maneuvering target in Cartesian coordinates using radar detectors that measure distance, azimuth and elevation at high data rates in polar coordinates. An algorithm of approximate gain calculation is proposed to determine the filter gain when an on-line microprocessor is implemented. In this method, the gain is calculated with three decoupling filters and multiplied by the Jacobian transform determined by the position and direction of the target being measured. Comparing this algorithm with the extended Kalman filter used for the typical target track in the ship gun fire control system, the proposed algorithm has almost the same filter gain and tracking error as the extended Kalman filter, The volume is reduced by three-quarters.