基于自适应Kalman滤波的导引头随动系统设计

摘要

In newer kinds of seekers, the complexity of signal processing brought a notable delay effect to the tracking servo systems. In this paper,a compensating control scheme aiming to overcome delay effect is stated out. First,an adaptive Kalman predictive filter is used to get an estimation of current LOS angle, after that, a predictive value of tracking error of current time is obtained, which was used instead of the delayed output of seeker's receiver in the closed- loop control of tracking servo system. Moreover,considering some practical limits of seeker's engineering applications, such as low refreshing rate of measurements , and non - equivalent output time interval, the filtering algorithm above proposed was improved in two aspects,which can be more effective in practical use. Finally,computer simulation results showed that this control scheme can improve tracking precision of seeker servo system in circumstance of missile disturbances.%主要研究导引头随动系统中探测器信号处理延迟的影响及其补偿控制算法.提出了一种自适应Kalman滤波延迟补偿方案,利用Kalman滤波的预测能力得到当前时刻视线角的估计值,进而得到此时的跟踪误差的估计值,取代被延迟的探测器输出进行闭环控制.考虑到导引头探测器的低更新频率、非等间隔量测等工程特点,又对上述滤波算法进行了一系列改进.仿真表明方法可以明显提高导引头在弹体扰动情况下的跟踪精度.