摘要
针对光电跟踪平台在跟踪目标时存在脱靶量滞后的问题,设计了一种基于非线性跟踪微分器和机动目标“当前”统计模型的滞后补偿方法。根据光电跟踪平台中目标脱靶量的产生机理,将脱靶量滞后等效为纯延迟环节和采样保持环节的串联,利用非线性跟踪微分器得到滞后脱靶量的跟踪信号及其微分信号。在此基础上,采取直接预测补偿法处理延迟环节,从而估计出不含延迟的脱靶量信号,并利用滞后脱靶量和跟踪信号的间距自适应调整非线性跟踪微分器的参数。根据机动目标的“当前”统计模型建立离散状态方程,采用修正的瑞利分布描述目标加速度的“当前”概率密度,从而估计在采样保持阶段的目标脱靶量,实现对采样保持环节的补偿。实验结果表明:所提方法将单位阶跃响应的超调量由基于自适应最小均方差补偿方法及基于卡尔曼滤波补偿方法的19.4%和13.7%降低至2.5%;所提方法能有效补偿延迟环节和采样保持环节,提高光电跟踪平台的目标跟踪精度。
Aiming at the difficulty of miss distance time-delay of electro-optical tracking platform in target tracking,a time-delay compensation method based on non-linear tracking differentiator and current statistical model of maneuvering target is proposed.According to the mechanism of miss distance,the time-delay is equivalent to the series connection of the pure delay component and the sampling-and-holding component.The tracking and differential signals of the miss distance with time-delay are obtained by the non-linear tracking differentiator,the miss distance without time-delay is thus estimated by the direct forecasting compensation.The parameters of the non-linear tracking differentiator are adaptively adjusted by the signal spacing evaluated with the miss distance and its tracking signal.Then the current statistical model is employed to establish the discrete state equation,and the modified Rayleigh distribution is used to describe the current probability density of the target acceleration,so as to estimate the miss distance during the sampling-and-holding.Experimental results show that the overshoot of unit step response is reduced from 19.4%(least mean square method)and 13.7%(Kalman filter method)to 2.5%.So the proposed method can effectively compensate the delay and sampling-and-holding component,reduce the effect of miss distance time-delay,and improve the tracking accuracy of electro-optical tracking platform.
作者
吕明明
侯润民
柯于峰
侯远龙
LV Mingming;HOU Runmin;KE Yufeng;HOU Yuanlong(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2019年第11期141-147,共7页
Journal of Xi'an Jiaotong University
基金
国家自然科学基金资助项目(51805264)
关键词
光电跟踪平台
脱靶量滞后
非线性跟踪微分器
直接预测补偿
“当前”统计模型
electro-optical tracking platform
miss distance time-delay
non-linear tracking differentiator
direct forecasting compensation
current statistical model
