摘要
为了降低无线电测控系统跟踪过程中随机误差分量的影响,提高伺服分系统跟踪精度,提出一种基于Kalman滤波的跟踪控制方法,将Kalman滤波器估计得到的目标角位置与天线实时角位置之间的角误差作为伺服分系统位置环路输入,驱动天线跟踪目标。对基于"当前"模型的Kalman滤波算法进行改进,利用UD因式分解和野值剔除算法防止Kalman滤波过程的不稳定。仿真和实测结果表明,改进的Kalman滤波算法具有很好的数值稳定性,基于Kalman滤波的跟踪控制方法具有较高的静态跟踪精度。
A tracking control method based on Kalman filter is put forward in the wireless measure and control system in order to decrease the influence of tracking random error and improve the tracking precision of servo system. The target position is esti- mated by Kalman filter, the angle error between the real time angle position of antenna and the estimated angle position is used as the input of position closed control loop in servo system, and the servo system drives antenna to track target according to the angle error. In the tracking control method, improvements including UD factorization algorithm and outlier eliminating algorithm on the Kalman filter based on the current model are carried out to restrain the instability of filtering process. Results of simulation and test indicate that the improved Kalman filter algorithm takes on very kind stability and the servo system using the tracking control method based on Kalman filter presents higher static auto - tracking precision.
出处
《遥测遥控》
2016年第1期31-37,共7页
Journal of Telemetry,Tracking and Command
