[1]许志刚.基于初距划分的纯方位目标跟踪的EKF滤波器群[J].南京理工大学学报(自然科学版),2007,(04):440-443.
 XU Zhi-gang,SHENG An-dong.Group of EKF Based on First-range Partition for Bearings-only Target Tracking[J].Journal of Nanjing University of Science and Technology,2007,(04):440-443.
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基于初距划分的纯方位目标跟踪的EKF滤波器群
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2007年04期
页码:
440-443
栏目:
出版日期:
2007-08-30

文章信息/Info

Title:
Group of EKF Based on First-range Partition for Bearings-only Target Tracking
作者:
许志刚1 2 盛安冬2
1. 淮海工学院数理科学系, 江苏连云港222005; 2. 南京理工大学自动化学院, 江苏南京210094
Author(s):
XU Zhi-gang12SHENG An-dong2
1.Department of Mathematics,Huaihai Institute of Technology,Lianyungang 222005,China;2.School of Automation,NUST,Nanjing 210094,China
关键词:
纯方位跟踪 初距划分 推广卡尔曼滤波 状态初始值
Keywords:
bearings-only track ing firs-t range partit ion extended Kalman f ilter initial value of state
分类号:
TN953
摘要:
利用EKF对纯方位目标跟踪的工程算法进行了探讨。目标初距范围被划分成若干个小单元,每个小单元形成预估初距;在观测器匀速直航下,EKF滤波器群分别估计目标-观测器相对速度与初始距离比值;然后每个滤波器利用新量测方位估计目标参数,同时依据Bayes-ian公式更新滤波器概率密度;观测器匀速下预估状态初始值,降低了误差影响,提高了推广卡尔曼滤波方法(EKF)收敛率;多滤波器算法便于并行计算和实时处理,符合工程要求。
Abstract:
Extended K alm an filter ( EKF ) is app lied to design the eng ineering algorithm for bearings- on ly tracking. The prior range region is d iv ided in to a number of smaller cells treated as in itia-l range. The ratios o f relative ve loc ity betw een target and observer to in itia-l range are est imated by the group o fEKF filterw h ile observer travels w ith constant ve loc ity. U t ilizing a sequence o f new measuremen ts co llected by a manoeuvre observer, the group of filters estim ate the target mo tion param eters. The ir probab ility of density function is updated according to B ayesian rule. The inf luence o f error can be allev iated and the rat io o f convergence can be increased due tomeasurements collected by the fixed observer in initial value of state. The algorithm accords w ith the need o f eng ineering that can calcu la te rea l time and possesses para llel.

参考文献/References:

[ 1] 董志荣. 舰艇指控系统的理论基础[M ]. 北京: 国 防工业出版社, 1995.
[ 2] 何友, 王国宏, 彭应宁, 等. 多传感器信息融合及应 用[M ]. 北京: 电子工业出版社, 2000. 195- 233.
[ 3] A ida laV J, H amm el S E. U tilization ofm odified po lar coo rd ina tes for bearings-on ly track ing [ J ] . IEEE Trans Auto Cont, 1983, 28 ( 3): 283- 294.
[ 4] Dinh T P. Som e qu ick and effic ient m ethods for bea ring- only ta rget m otion ana lysis [ J]. IEEE Trans on signal processing, 1993, 41 ( 9): 2 737- 2 751.
[ 5] K ronham n T R. Bearings- on ly targ et mo tion ana lys is based on a mu ltihypothesis Ka lm an filter and adaptiv e ow nsh ip mo tion contro l [ J]. IEE Proc) Radar, Sonar N av ing, 1998, 145 ( 4) : 247- 252.
[ 6] Peach N, CengM. Bearings-only tracking using a set o f range-param eterised ex tended Ka lm an filters [ J]. IEE Proc) Contro lTheory App,l 1995, 142 ( 1): 73- 80.
[ 7] Ka rlsson R, Gustafsson F. Recursive Bayesian estimation: Bearings-on ly applications [ J]. IEE Pro c) Radar, Sonar Nav ig, 2005, 152 ( 5): 305- 303.

备注/Memo

备注/Memo:
基金项目: 国家自然科学基金( 60174028) ; 江苏省2004年/ 青蓝工程0优秀青年骨干教师基金项目; 淮海工学院 自然科学基金( Z2003016)
作者简介: 许志刚( 1965- ), 男, 江苏南京人, 副教授, 博士生, 主要研究方向: 非线性滤波及目标定位跟踪的研 究, E-mail:xuzhigang@ 126.com;
通讯作者: 盛安冬( 1964- ), 男, 浙江海盐人, 教授, 博士生导师, 主要 研究方向: 满意控制和信息融合, E-mail:she
更新日期/Last Update: 2007-08-30