SUT-H_∞滤波在修正极坐标系与直角坐标系中纯方位跟踪对比研究  

Comparison of MPC-SUT-H_∞ and CC-SUT-H_∞ in bearings-only tracking

作　　者：徐进宝[1,2] 封锡盛[1] 任申真[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院研究生院,北京100049

出　　处：《计算机应用研究》2012年第3期885-887,共3页Application Research of Computers

基　　金：中国科学院知识创新工程重要方向资助项目(09A2040201)

摘　　要：提出了SUT-H∞滤波算法,在修正极坐标系和直角坐标系中基于纯方位信息对目标实施跟踪。区别于以往的最小均方差为准则的估计方法,SUT-H∞利用了线性H∞鲁棒滤波准则。采用SUT线性化极坐标系的状态方程和直角坐标系的观测方程,并将其与线性H∞鲁棒滤波相结合,分别在两种坐标系下推导出SUT-H∞滤波算法。通过对MATLAB仿真结果进行对比分析,修正坐标系下的SUT-H∞滤波的稳定性和精度要优于直角坐标系下的SUT-H∞滤波。This paper used the SUT-H∞ fiher in MPC systems and CC systems in order to track targets based on bearings-only. Different from the previous minimum mean square estimation method as the criterion, it used the robust filter criterion in SUT- H∞ filter. It used the SUT to linearize the state equation in MPC and observation equation in CC, and combined with H∞ robust filter, derived SUT-H∞ filter in two coordinates systems respectively. Through analysis of the MATLAB simulation results, the SUT-H∞ filter in MPC systems is better than in CC systems.

关 键 词：SUT-H∞滤波 修正极坐标系 直角坐标系 纯方位跟踪 

分 类 号：TP20[自动化与计算机技术—检测技术与自动化装置]