CAJ | 학술논문

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。
침대부유각도측량적쌍궤협동삼유궤동목표근종정위로경규화문제제출기우확전잡이만려파기(EKF)화정위정도궤하분포(GDOP)적우화산법。재건립쌍궤협동피동근종EKF적기출상분별종교호신식여협방차공제입수건립지표함수。이용향량개념추도출료쌍궤협동피동목표정위적GDOP계산공식，병건립료기우GDOP적지표함수。이용목표상태적일보예측급출료기우불동지표함수적수치해법。방진표명，기우EKF적지표함수재재목표궤동시성능교차，이기우GDOP적지표칙재목표궤동시표현출량호성능。
A paths planning algorithm was proposed to solve the problem of dual-aircraft cooperative tracking and locating a maneuvering target with bearings-only measurements (BOMs) in 3- dimension situation. Its purpose was to improve the passive target tracking and localization performances. After the passive tracking extended Kalman filter(EKF) was set up, the mutual information metric function and the covariance control metric function were given. The target position geometrical dilution of precision (GDOP) was deduced by introducing the vector theory. Details of the paths’ planning algorithm were put forward. Computer simulation studies indicate that the EKF-based method has a worse performance when the target has maneuvers. The GDOP-based method has a good adaptation to the maneuvering target.