光电跟踪系统的共轴跟踪控制技术研究

摘要

For the high-precision demand of electro-optical tracking system,the control technique based on on-axis tracking of rough tracking process was studied.Firstly,the principle of on-axis tracking was introduced.Secondly,methods of non-linear Kalman filters in common use were analyzed.Especially,the accuracies of predicted displacement and velocity were compared in unscented Kalman filter (UKF) and cubature Kalman filter (CKF) by simulation test.Finally,based on the advantages of UKF and CKF,two-parallel filter which was used to deal with delayed signal of compound position was designed to establish the on-axis tracking control of electro optical tracking system.As the input signal of data measured,the simulation results show that control system of on-axis tracking improves the system tracking precision.%为了提高光电跟踪系统的跟踪精度,对其粗跟踪环节的共轴跟踪控制技术进行了研究.介绍了共轴跟踪控制的基本原理,分析了常用非线性卡尔曼滤波算法,并仿真比较了无迹卡尔曼滤波(UKF)和容积卡尔曼滤波(CKF)的位置和速度的预测精度.在此基础上综合UKF和CKF的优点,设计了对延迟的合成位置信号进行处理的双并联滤波器,实现了光电跟踪系统的共轴跟踪控制.利用实测数据仿真实验表明,光电跟踪系统的跟踪精度明显提高.