具有角速度测量的光电跟踪系统分析

摘要

Target tracking performance is hardly improved in traditional optic-electric tracking system with position measurements of spherical coordinates under the condition that all of prior information is fully utilized. Angle velocity measurements of elevation and azimuth are innovatively introduced into the system. A new measurement model was presented by using design idea of extended kalman filter (EKF) for the tracking system and the asymptotic property of tracking biases was analyzed in threoy. Sequential processing of position measurements and angle velocity measurements can be conveniently implemented in engineering. The simulated results show that adding angle velocity measurements speed up convergence rate of the system, decrease root mean square of estimate error, and improve tracking performance of the system significantly.%采用球坐标位置测量的传统光电跟踪系统,在充分利用模型先验信息而不增加其它测量信息的前提下,很难进一步改善目标运动参数的估计性能.在传统光电跟踪系统基础上,引入俯仰和偏航两个角速度测量装置来提高跟踪系统性能的设计思想,尚未见文献报道.本文借鉴扩展卡尔曼滤波器(EKF)思想,建立了新的测量模型,并从理论上分析了跟踪偏差的渐进性质.对原有位置测量和附加角速度测量的序贯滤波处理保证了工程实现的可行性和实时性.仿真结果表明,附加角速度测量后,光电跟踪系统收敛速度加快,估计误差均方差减小,系统跟踪性能得到全面提升.