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首先建立了纯方位目标跟踪系统的动态模型和一个最小二乘估计器,分析了该系统的完全可观测性。在系统完全可观测的条件下,引入可观测程度这一概念。文中定义了两种描述系统可观测程度的方法。它们都很好地反映了系统可观测程度随跟踪时间的变化过程。研究发现,纯方位目标跟踪系统往往是弱可观测系统,这正是系统跟踪效果不佳的原因所在。然而,文中表明的系统可观测程度同跟踪几何态势关系密切这一事实,又使得从己艇机动入手解决跟踪效果差的问题成为可能,就是通过极大化系统的可观测程度优化己艇的机动策略。
Firstly, a dynamic model of a purely azimuth target tracking system and a least square estimator are established, and the complete observability of the system is analyzed. In the system is completely observable conditions, the introduction of the concept of observability. The article defines two methods to describe the observability of the system. They all reflect well the process of observability of the system with the tracking time. The study found that the pure azimuth target tracking system is often weak observable system, which is why the system tracking is not effective. However, the fact that the observability of the system is closely related to the tracking geometry has also made it possible to solve the problem of poor tracking by self-propelled maneuvering, which is to optimize the maneuvering of a boat by maximizing the observability of the system Strategy.