光电跟踪系统纯角度滤波器的设计  

Design of filter only by angle information in opto-electronic tracking system

作　　者：郭宁[1] 吕俊伟[1] 邓江生 

机构地区：[1]海军航空工程学院控制工程系,山东烟台264001 [2]海军航空仪器计量站,江苏南京210008

出　　处：《光学精密工程》2013年第7期1818-1824,共7页Optics and Precision Engineering

基　　金：国家863高技术研究发展计划资助项目(No.2010AAJ211)

摘　　要：为了在不增加硬件的条件下改善光电跟踪系统的性能,提出了仅基于目标角度信息的状态估计方法,设计了纯角度跟踪滤波器。首先,分析了带有激光测距仪的红外跟踪系统的工作机理;针对目标机动性特点,建立了球坐标系下目标的"当前"机动模型。然后,针对纯角度跟踪过程中高频图像序列存在复杂噪声干扰的问题,采用集员估计的方法对目标状态模型进行了补偿和调整,并在此基础上设计了自适应椭球滤波算法。最后,以舰载光电跟踪系统对来袭目标的跟踪为例进行了仿真。对比实验结果表明,对于复杂噪声条件下的强机动目标,在激光测距仪回波率为50%的情况下,利用基于自适应椭球滤波算法的纯角度滤波器进行辅助跟踪,可以实现方位(俯仰)角度估计均方差≤0.6mrad的稳定跟踪,效果显著优于传统滤波方法,具有良好的工程实用价值。To improve the precision of an opto-electronic tracking system without installing new equipment,an assistant tracking with surplus angle information was carried out and a filter tracking only by angle information was designed.Firstly,the working principle of the opto-electronic tracking system with a laser-infrared detector was introduced,and a target model based on the ＂current＂ statistical model was established in a globe-coordinate.Considering the complex noise interference in the high frequency image series in a angle track process,the set-membership estimation was introduced to repair the maneuvering model,then a self-adjusted ellipsoidal bounding filter whose tracking was only by angle was designed.Finally,a simulation on the course tracking to enemy targets was performed by the opto-electronic system on the ship.The comparison results show when the laser detector probability decreases to fifty percent,the filter designed by ellipsoidal bounding algorithm could track the maneuvering target stably with a Room Mean Square Error（RMSE） of target angle less than 0.6 mrad.The filter could overcome the effect of non-white noises and has some practical values in engineering.

关 键 词：光电跟踪 状态估计 纯角度跟踪 椭球滤波 

分 类 号：V556.5[航空宇航科学与技术—人机与环境工程] TN713[电子电信—电路与系统]