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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。
By establishing the relative motion coordinate system and the target relative motion observation model, the changes of the target motion state observed by the tracking system are studied under the influence of the platform sway. Based on the analysis of the principle of strapdown vertical reference compensation, the model of strapdown compensation of strapdown vertical reference platform was established. The model was deduced theoretically based on the measurement capability of strapdown vertical reference system, and the model was applied to the actual Joint vertical reference system. The variation of Kalman filter tracking accuracy under the platform rocking is studied by means of modeling and simulation. It is pointed out that the main reason that the tracking accuracy of Kalman filter is reduced or even dispersed is that the model error increases. The simulation results verify the correctness of the conclusion and provide a theoretical reference for further improvement of tracking methods.