CAJ | 학술논문

针对项目需要，研究了当毫米波雷达/红外双模导引系统中的雷达系统不可用时，仅通过红外传感器的目标角度信息进行纯方位跟踪的卡尔曼滤波算法以提高系统的抗干扰能力。文中分析了扩展卡尔曼滤波器、伪线性估计器和基于修正球坐标系滤波器3种滤波方法用于解决此类问题的特点，并以纯方位跟踪的观察数据对上述算法进行了仿真。结果表明：扩展卡尔曼滤波器是一种不稳定的算法，在许多情况下是发散的；伪线性估计器稳定性较好，但产生的估计是有偏的；基于修正球坐标滤波解决了跟踪不稳定性问题，估计效果相对较好，具有一定的工程应用意义。
침대항목수요，연구료당호미파뢰체/홍외쌍모도인계통중적뢰체계통불가용시，부통과홍외전감기적목표각도신식진행순방위근종적잡이만려파산법이제고계통적항간우능력。문중분석료확전잡이만려파기、위선성고계기화기우수정구좌표계려파기3충려파방법용우해결차류문제적특점，병이순방위근종적관찰수거대상술산법진행료방진。결과표명：확전잡이만려파기시일충불은정적산법，재허다정황하시발산적；위선성고계기은정성교호，단산생적고계시유편적；기우수정구좌표려파해결료근종불은정성문제，고계효과상대교호，구유일정적공정응용의의。
For a dual model guidance system integrated by millimeter wave radar and infrared sensor ( MMW/IR) , the bearings-only tracking ( BOT) based on IR can effectively maintain the guidance when the MMW becomes inva-lid due to the faults and interferences. Sections 1 through 3 of the full paper explain the exploration mentioned in the title, which we believe is new and indicates that we have succeeded in obtaining better results than those obtainable with existing methods. The core of these sections consists of:the modeling of BOT problem;the design of three dif-ferent algorithms for solving the BOT problem:extended Kalman Filter ( EKF) , pseudo linear estimate ( PLE) and modified spherical coordinates ( MSC) based Kalman Filter. We simulate and compare the errors of position, veloc-ity, pitch angle, yaw angle and the convergence performance of these three algorithms respectively. The simulation results, given in Figs.2 to 5 and the Tab. 1, and their analysis show preliminarily that:(1) the convergence rate of PLE is faster, but its position and velocity estimation are biased and the attitude accuracy is lower than the two oth-er methods;(2) the EKF and MSC methods have nearly the same convergence rate, but the MSC method achieves higher accuracy; (3) the convergence performance of PLE and MSC methods are significantly better than EKF. Thus the results indicate that the MCS based Kalman Filter is more effective for solving the BOT problem in a prac-tical MMW/IR integrated guidance system.