摘要
将Kalman预测方法用于仿真经纬仪跟踪机动目标,对不同靶标旋转速度下的机动目标跟踪进行了仿真研究。对等角速度模型和等角加速度模型的状态方程输入矩阵G(k)进行了计算。根据Kalman预测曲线与实测曲线误差的标准方差最小原则,确定了两模型的状态噪声与测试噪声的方差比值Q/R,并优化了两模型适合经纬仪的比值Q/R。提出了组合Kalman隔点预测法。对两模型的组合Kalman隔点预测仿真结果进行了对比。得出了两模型的组合Kalman预测法在仿真经纬仪跟踪机动目标时的适应范围。
Kalman prediction method was applied to simulation of tracking mobile target of theodolite, and simulating study on tracking mobile target was conducted under different target beacon velocity. Input matrix of state equation G(k ) for constant angular velocity model and constant angular acceleration model was presented separately. According to a principle of least standard deviation of Kalman prediction curve and practical curve, the deviation ratio of state noise and test noise Q/R was fixed, and the ratio Q/R for theodolite was optimized. The composed Kalman leap prediction method was presented. The simulating results calculated by composed Kalman leap prediction method for two models were compared. The adaptation ranges of composed Kalman leap prediction method of two models for simulating theodolite's tracking mobile target were conducted.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2004年第4期606-610,共5页
Journal of Jilin University:Engineering and Technology Edition
基金
中国科学院长春光学精密机械与物理研究所青年创新基金资助项目(Q01B12).
关键词
自动控制技术
KALMAN预测
跟踪
机动目标
仿真
automatic control technology
Kalman prediction
tracking
mobile target
simulation
