非线性无序测量无迹滤波在地面跟踪目标指示器的应用 application of nonlinear out-of-sequence measurement unscented kalman filtering in gmti tracking.pdfVIP

第 34 卷第 3 期 光电工程 Vol.34, No.3 2007 年 3 月 Opto-Electronic Engineering March, 2007 文章编号：1003-501X(2007)03-0019-07 非线性无序测量无迹滤波在地面跟踪 目标指示器的应用 胡炜薇，杨莘元，蒲书缙，廖艳苹 ( 哈尔滨工程大学 信息与通信工程学院，黑龙江 哈尔滨 150001 ) 摘要：对于多传感器融合系统，在处理中心往往由于通信数据链的失误，出现滞后数据(即无序量测) ，这对数据 不利于融合的正常进行。本文对此提出一种最优和次优的无序量测无迹卡尔曼(UKF)滤波器，基于 UT 变换，把多 步滞后量测转化为等价一步滞后量测，用无序量测直接滤波更新。通过最优、次优UKF 滤波器和扩展 KF 滤波器 在不同情况下对地面跟踪目标指示器(GMTI)组合跟踪的无序量测处理作比较，可看出本文所述滤波器提高了非线 性条件下的无序量测滤波精度。 关键词：目标跟踪；非线性；无序量测滤波器；无迹卡尔曼滤波 中图分类号：V556 文献标识码：A Application of nonlinear out-of-sequence measurement Unscented Kalman filtering in GMTI tracking HU Wei-wei ，YANG Shen-yuan ，PU Shu-jin ，LIAO Yan-ping ( School of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China ) Abstract ：For multi-sensor fusion system, the center processor could not always receive the measurements. Because of communications mistakes, the measurement would be delayed, which was named as out-of-sequence measurement, and this measurement was not conducive to normal fusion. An optimal and sub-optimal Unscented Kalman filter for filtering out-of-sequence measurement was proposed. The estimation was directly updated with out-of-sequence measurement, and multiple steps lag measurement was transformed to one step lag equivalent measurement based on unscented transformation. Then the optimal and sub-optimal Unscented Kalman filter and Extended Kalman filter were used for out-of-sequence measurement in the combined GMTI sensors target tracking. The comparison of the simulation results shows that the presented algorithms enhance