带多普勒量测的序贯SCKF雷达目标跟踪算法

摘要

To improve the performance of radar target tracking under nonlinear measurements,a sequential square root cubature Kalman filter algorithm with Doppler measurement( SSCKF-D) is proposed by intro-ducing the sequential processing in square root cubature Kalman filter( SCKF) . In this algorithm a pseudo measurement is constructed to decorrelate the errors of range and range rate measurement. Based on SCKF, the measurements of bearing,elevation and range,also the pseudo measurement are sequentially processed according to the measuring accuracy. The Monte Carlo simulation indicates the improved estimation accura-cy and convergence rate of SSCKF-D by comparing with SCKF and SCKF-D. It enhances the accuracy a-bove 20% than the latter algorithm and it is more suitable for target tracking in aerospace.%为提高非线性观测条件下雷达目标的跟踪性能,将序贯处理方法引入均方根容积卡尔曼滤波( SCKF),提出一种带多普勒量测的序贯均方根容积卡尔曼滤波( SSCKF-D)雷达目标跟踪算法,该算法通过建立伪量测去除径向距离和径向速度量测误差方差之间的相关性。基于SCKF算法,按照量测精确度的高低顺序对方位角、俯仰角、径向距离和伪量测序贯处理。 Monte Carlo仿真表明,与SCKF和带多普勒量测的均方根容积卡尔曼滤波( SCKF-D)算法相比,SSCKF-D算法跟踪精度更高,较后者提高20%以上,收敛速度更快,更适用于空间目标跟踪。