飞艇与无人机协同对海上运动目标定位跟踪研究  

Research on Locating and Tracking Technology of Moving Marine Object by Airship and UAV

作　　者：吴鹏飞[1] 王大华[1] 郭鑫[2] 

机构地区：[1]海军工程大学 [2]92941部队

出　　处：《舰船电子工程》2012年第7期28-30,共3页Ship Electronic Engineering

摘　　要：为实现飞艇、无人机协同对海上运动目标定位跟踪,通过一系列坐标转、变换将无人机测得目标位置转换到飞艇相对地理参考系中,并应用改进的Sage-husa自适应卡尔曼滤波实现对目标的跟踪,改进的卡尔曼滤波器是在Sage-husa噪声估计器基础上进行递推推导并引入权值系数,仿真表明,改进的滤波算法稳定性好,精度高,具有较快的收敛性和较强的自适应性。To locate and track the moving marine object by the airship and UAV coordinate conversion and transformation are used which can transform the coordinates detected by UAV to the coordinates in the airship geographic coordinate system, and also modified Sage- husa adaptive kalman filter. The real-time recurrence and weight are introduced in the modified filter. The simulation experiment indicates that the modified Sage-husa adaptive kalman filter has good stability, high accuracy, fast convergence and strong adaptability.

关 键 词：坐标变换 Sage-husa滤波 定位跟踪 

分 类 号：TJ762.2[兵器科学与技术—武器系统与运用工程]