面向三维目标跟踪的状态转换卡尔曼滤波方法  

Converted State Equation Kalman Filter for Three-dimensional Target Tracking

作　　者：刘增力[1] 张文 曹奇宏 赵宣植 刘康 曾赛 LIU Zengli;ZHANG Wen;CAO Qihong;ZHAO Xuanzhi;LIU Kang;ZENG Sai(Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650500,Yunnan,China;Unit 32392 of PLA,Kunming 650224,Yunnan,China;School of Environmental Science and Engineering,Southern University of Science and Technology,Shenzhen 518055,Guangdong,China;Shanghai Marine Electronic Equipment Research Institute,Shanghai 201108,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,云南昆明650500 [2]32392部队,云南昆明650244 [3]南方科技大学环境科学与工程学院,广东深圳518055 [4]上海电子设备船舶研究所,上海200000

出　　处：《兵工学报》2024年第11期3998-4010,共13页Acta Armamentarii

基　　金：国防科技重点实验室基金项目(2023JCJQLB3301);国家自然科学基金项目(61271007)。

摘　　要：雷达及声呐系统采集的三维球坐标量测与运动目标的笛卡尔坐标状态呈非线性,导致跟踪精度受限,而具有强非线性的多普勒量测更难以高效利用。针对上述问题,构造由距离、俯仰角、方位角及其微分组成的状态向量,使测量方程线性化;在距离、俯仰角构成二维时变极坐标系中对常微分动力学方程离散化,再基于投影关系引入方位角,建立球坐标系中的典型三维常速度和常加速度运动模型;结合标准卡尔曼滤波在线性高斯框架下,实现跟踪以避免非线性误差。通过仿真验证了在包括多普勒雷达等若干三维跟踪场景下提出方法的有效性与性能优势。The three-dimensional spherical coordinate measurements collected by the radar and sonar system are nonlinear with the Cartesian coordinate state of the moving target,which limits the tracking accuracy,and.it is more difficult to use the Doppler measurement with strong nonlinearityefficiently.Aiming at the above problems,a state vector composed of distance,pitch angle,azimuth angle and their derivatives is constructed to linearize the measurement equation,and the ordinary differential dynamics equation is discretized in a two-dimensional time-varying polar coordinate system composed of distance and pitch angle.Then the azimuth angle is introduced based on the projection relationship,and a typical three-dimensional constant velocity and constant acceleration motion model in the spherical coordinate system are established.Combined with the standard Kalman filter,the tracking is realized to avoid the nonlinear errorsunder the linear Gaussian framework.The effectiveness and performance advantagesof the proposed method in several three-dimensional tracking scenarios are verified through simulation.

关 键 词：多普勒雷达 三维目标跟踪 非线性滤波 状态转换卡尔曼滤波 

分 类 号：TN953[电子电信—信号与信息处理]