被动式跟踪可观测性分析的非线性系统方法

NONLINEAR OBSERVABILITY METHOD FOR BEARING ONLY TARGET MOTION ANALYSIS

目标的可观测性是被动式目标跟踪研究的基本问题．Ｆｏｇｅｌ－Ｇａｖｉｓｈ方法给出了Ｎ阶运动目标可观测性的充要条件，但Ｆ－Ｇ方法对目标运动仅适于写成多项式形式．采用非线性系统可观测性分析理论，可以给出形式完整的被动式跟踪可观测性充要条件，并可直接由运动目标的任意运动方程给出可观测性判据．对一二阶运动目标本文给出了分析和判据，讨论了高阶系统的推广．研究还表明，尽管就大多数判据而言，被动式目标跟踪的可观测性条件，理论上容易满足，但由于机载系统的运动约束和噪声的存在，跟踪滤波还是极易发散．

The observability for bearing only target motion analysis is a very important problem. The method of Forge & Gavish put forward a Nth order dynamics target observability condition from angle measurements. The F G method can not be used when the target motion equation can not be written in the form of polynomial. Using the nonlinear system theory we put forward a new observability method for bearing only target motion analysis. This method is more general than the previous ones.