基于SSRCKF的纯角度和纯距离跟踪滤波器  

Bearing-only Tracking and Range-only Tracking Based on SSRCKF

作　　者：张星星 刘乐文 ZHANG Xingxing;LIU Lewen(College of Electrical and Information Engineering,Lanzhou University of Technology,Lanzhou 730050)

机构地区：[1]兰州理工大学电气工程与信息工程学院,兰州730050

出　　处：《舰船电子工程》2021年第7期73-79,共7页Ship Electronic Engineering

基　　金：国家国防基础科研项目(编号:JCKY2018427C002);国防自然科学基金项目(编号:61873116,51668039,61763029)资助。

摘　　要：针对纯角度跟踪(BOT)和纯距离跟踪(ROT)所具有部分可观测性和高度非线性,论文研究并提出了球面单纯形—径向容积卡尔曼纯角度和纯距离跟踪滤波器。首先,由于广泛应用的容积卡尔曼滤波器(CKF)在纯角度和纯距离跟踪模型下的滤波精度较低,同时计算复杂度较高,基于此,论文研究了基于球面单纯形准则和径向准则的最新的滤波算法球面单纯形—径向容积卡尔曼滤波(SSRCKF),该滤波算法不仅提高了滤波精度,同时相比于传统的高阶CKF,SSRCKF的积分点的个数更少,有效地减少了计算复杂度。最后,结合纯角度跟踪模型和纯距离跟踪模型与SSRCKF,论文提出了球面单纯形—径向容积卡尔曼纯角度和纯距离跟踪滤波器。仿真实验验证了该滤波算法的有效性。Aiming at the partially observable and high nonlinear problem of bearing-only tracking and range-only tracking,the bearing-only and range-only tracking filter of spherical simplex-radial cubature Kalman are proposed in this paper.First,due to low filtering accuracy and high computational complexity of the cubature Kalman filtering as a widely used filter in the bearing-on⁃ly and range-only tracking,this paper presents the latest filtering algorithm spherical simplex-Radial cubature Kalman filter based on spherical simplex rule and radial rule.The filtering algorithm not only improves the filtering accuracy,but also reduces the num⁃ber of integral points of the SSRCKF compared with the traditional high-order CKF,and then effectively reducing the computational complexity.Finally,combined with the bearing-only tracking and range-only tracking and SSRCKF,the bearing-only and range-only tracking filter of spherical simplex-radial cubature Kalman are presented in this paper.Simulation results verify the ef⁃fectiveness of the proposed filtering algorithm.

关 键 词：容积卡尔曼滤波器 球面单纯形准则 纯方位跟踪 纯距离跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]