基于UKF的测速定轨实时算法.pdfVIP

第26卷 第6期 飞行器测控学报 Vo1．26 NO．6 2007年 12月 Journal of Spacecraft TTC Technology Dec．2007 基于UKF的测速定轨实时算法 慈 颖 郭军海 (北京跟踪与通信技术研究所·北京5131信箱·100094) 摘 要 针对多测速元定轨测量方程非线性强的特点，引入了Unscented Kalman滤波。Unscented Kalman滤波 通过设计少量的sigma点，并计算这些点经过非线性函数的传播，获得滤波值基于非线性方程的更新，从而避免 扩展Kalman滤波线性化等缺点，提高了滤波精度。仿真结果表明，Unscented Kalman滤波方法可以很好地实现 测速定轨，在飞行器实时跟踪领域具有较好的应用价值。 关键词 飞行器跟踪；Unscented Kalman滤波；测速定轨 中图分类号：V557 文献标识码：A A Real-Time Algorithm For Trajectory Determination by Velocity T easurements Based 0n Unscented Kalman Filtering CI Ying GU0 Jun-hai (Beijing Institute of Tracking and Telecommunications Technology，Beijing 100094) Abstract This paper introduces Unscented Kalman Filtering(UKF)aiming at the characteristics of measuring equations for mljectory determination by multi—velocity measurement with strong nonlinearity．The updating of the UKF based on nonlinear state space equations is realized by designing a few sigm a points and calculating the propagation of these sigm a points via nonlinear functions．Th us，UKF avoids the limitations of other linear metho~ such as extended Kalman filter and gives a more accurate result．Simulation results show that the UKF method can realize trajectory determination by ve— locity measurement and has a great application in the field of real—time vehicle tracking． Keywords Vehicle Tracking；Unscented Kalman Filtering；Trajectory Determination by Velocity Measurement 0 引 言 在航天测量领域，远距离、高精度的无线电测量系统主要由多部测距、测速雷达组成。高精度、远距离 测距雷达测量原理十分复杂，建设和维护都十分困难。而测速雷达采用多普勒测速原理，设备构成相对简 单，误差源少，在工程上也更易实现设备小型化、机动性强、维护简单、布站方便等要求。因此，如果能够单 纯采用多部测速雷达组成测量系统，就可以克服传统测量体制的弊端。参考文献[1]对多测速雷达体制 进行了详尽的理论分析和仿真计算，提出了多测速雷达定轨体制的概念，促进了多测速定轨体制的发展。 但它提供