跟踪空间多模式机动目标的稳健IMM算法  

Robust interacting multiple model algorithm for tracking space target with multi-mode maneuvering

作　　者：卢山 李晴 张世源 LU Shan;LI Qing;ZHANG Shiyuan(Shanghai Aerospace Control Technology Institute,Shanghai 201109,China;Shanghai Key Laboratory of Aerospace Intelligent Control Technology,Shanghai 201109,China)

机构地区：[1]上海航天控制技术研究所,上海201109 [2]上海市空间智能控制技术重点实验室,上海201109

出　　处：《中国惯性技术学报》2025年第2期189-195,共7页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(U20B2056)。

摘　　要：针对空间非合作多模式机动目标跟踪中传统交互多模型(IMM)算法模型概率计算奇异,造成算法失效的问题,提出了稳健IMM算法。考虑空间目标的常见机动模式,设计了以C-W方程、扩维C-W方程、渐消C-W方程为子模型的IMM模型集,以较低的计算复杂度实现了模型集与真实系统匹配程度的提高。进一步,对传统IMM算法中模型概率计算过程出现奇异的现象进行了分析,设计了一种改进的模型概率更新方法,避免了目标发生机动模式切换或状态突变时算法无法准确估计目标状态甚至终止估计的问题。仿真结果表明,所提算法较传统IMM算法的位置精度提高了18.4%以上,验证了所提算法能够实现对非合作目标多种机动状态的稳定相对状态估计。Aiming at the problem of algorithm failure caused by the singularity of model probability calculation of the traditional interacting multiple model(IMM)algorithm model in space non-cooperative multi-mode maneuvering target tracking,the robust IMM algorithm is proposed.Considering common maneuver modes of space targets,the IMM model set with C-W equation,augmented C-W equation and fading C-W equation as sub-models is designed,and the matching degree between the model set and the real system is improved with low computational complexity.Furthermore,the singularity phenomenon in the model probability calculation in the traditional IMM algorithm is analyzed,and an improved model probability update method is designed to avoid the problem that the algorithm cannot accurately estimate the target state or even terminate the estimation when the maneuvering mode of the target switches or its state suddenly changes.The simulation results show that the proposed algorithm improves the position accuracy by more than 18.4%,compared with the traditional IMM algorithm,verifying that the proposed algorithm can stably estimate the relative state of the non-cooperative target with multi-mode maneuvering.

关 键 词：机动目标 相对状态估计 机动模式 交互多模型 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]