基于CSM_UKF的双经纬仪强机动目标跟踪研究

Strong maneuvering target tracking for theodolite based on CSM_UKF model

以双经纬仪纯角度测量与定位为研究内容,考虑量测方程的非线性,采用无迹卡尔曼滤波(UKF)进行系统状态估计。同时,设定非合作目标预警跟踪背景,假设目标存在强机动的情况,以当前统计模型(CSM)拟合目标运动状态,建立了双经纬仪对强机动目标的CSM_UKF跟踪模型。在相同条件下,与匀加速模型进行了仿真比对。仿真结果表明,该模型能实现双经纬仪纯角度测量条件下对目标的稳定跟踪,尤其在目标存在强机动条件下,跟踪效果优于匀加速模型。

In this paper,pure angle measurement and location of double theodolite was studied.Considering the non-linearity of measurement equation,unscented Kalman filter(UKF)was used to estimate the system state.Assuming that the target had strong maneuvering,this paper applied the current statistical model(CSM)to fit the target motion state.At the same time,based on the background of non-cooperative target early-warning and tracking,the CSM_UKF tracking model of double theodolite against strongly maneuvering target was established.Under the same conditions,the simulation was compared with the CA model.The simulation results show that the model can track the target stably under the condition of pure angle measurement by double theodolite,especially under the condition of strong maneuvering target,the tracking effect is better than that of the CA model.