卡尔曼滤波补偿在潜载光电跟瞄中的应用  

The Application of Kalman Filtering in Submarine Photoelectric Tracking and Aiming

作　　者：张雨恒 刘宗凯[2] 周本谋[1] 刘禹铭 ZHANG Yu-heng;LIU Zong-kai;ZHOU Ben-mou;LIU Yu-ming(State Key Labortary of Trasient Physics,Nanjing University of Science and Technology,Nanjing 210094,China;School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学瞬态物理国家重点实验室,南京210094 [2]南京理工大学自动化学院,南京210094

出　　处：《火力与指挥控制》2021年第1期112-116,共5页Fire Control & Command Control

基　　金：国家自然科学基金(11702139);先进固体激光工业和信息化部重点实验室开放基金资助项目(30918014115-009)。

摘　　要：为了提高潜载光电设备的跟踪精度,提出了一种针对扰动误差进行补偿的前馈控制策略,主要方法分为3步:将大地坐标系转化为甲板坐标系;利用Singer模型的卡尔曼滤波对经过变换的光轴坐标系下的扰动量进行滤波;将滤波后的速度反馈到速度回路上,再结合脱靶量信息构成完整的速度环控制。仿真表明,在未加入补偿算法之前粗跟踪最大误差为0.004 rad,加入反馈之后最大误差为0.0018 rad,说明采用的方法能够有效减小跟踪误差。In order to improve the tracking accuracy of submarine optoelectronic equipment,a feedforward control strategy is proposed to compensate the disturbance errors.The main methods are divided into three steps:firstly,transforming the geodetic coordinate system into deck coordinate system.Secondly,use the kalman filtering of Singer model method to filter the disturbance quantity in the converted optical axis coordinate system.Finally,feed the filtered velocity to the speed loop,and then miss distance information is combined to form a complete speed loop control.The simulation results show that the proposed method can effectively reduce the tracking error.The maximum error of coarse tracking before adding compensation calculation is 0.004 rad,the maximum error after adding feedback is 0.0018 rad.

关 键 词：潜载随动系统 扰动解算 前馈补偿 卡尔曼滤波 

分 类 号：TJ951[兵器科学与技术—武器系统与运用工程]