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本文采用了卡尔曼——布西一步予测法将先进攻击直升机火拧系统中直升机和目标运动估计问题进行了公式推导.在把直升机和目标看成质点和具有相关随机加速度的基础上建立它们的动态模型.观察值包括本机速度,加速度距离,瞄准线角度和角速度.在运动瞄准线(LOS)坐标系中推导估计问题的公式,该坐标系中的动态模型与瞄准线的速度矢量有关.我们假定该矢量是无噪声的并在采样时间间隔内不变.略去了九态直升机估计器,而在目标状态估计能特性的鉴定中直接采用了直升机速度和加速度的测量值.在鉴定中使用了根据实际情况的模拟方案和依据地面车辆运动的试验数据.对各种误差源的影响(包括传感器噪声、瞄准线角速率、陀螺噪声)进行了研究.结果表明,影响目标未来位置予测的垂直于瞄准线的目标状态估计是十分良好的,而沿着瞄准线的目标估计则相反.
In this paper, the Kalman-Bussey one-step method is used to derive the formulas of helicopter and target motion estimation in the advanced attack helicopter fire screw system. They are established based on considering the helicopters and targets as mass points and related random accelerations The observed values include local velocity, acceleration distance, line of sight angle, and angular velocity.The formula for estimating the problem in the LOS coordinate system is derived from the dynamic model in the coordinate system that is related to the velocity vector of the line of sight . We assume that the vector is noiseless and constant over the sampling interval. The nine-state helicopter estimator is omitted and the helicopter velocity and acceleration measurements are used directly in the characterization of the target state estimates. Based on the actual situation of the simulation program and based on the ground vehicle motion test data on various sources of error effects (including sensor noise, line of sight angular rate, gyro noise) were studied.The results show that the impact of the target future position The target state estimate measured perpendicular to the line of sight is very good, while the target estimate along the line of sight is phase .