一种结合UKF与TLS的GPS机动跟踪算法

GPS maneuvering tracking algorithm based on the combination of UKF and TLS

在GPS接收机产生机动时,运动模型的不匹配会给跟踪算法带来性能损失。本文提出一种机动检测、Unscented Kalman Filter(UKF)以及总体最小二乘(Total Least Square,TLS)相结合的解算方法用于接收机机动的GPS跟踪解算。首先,通过机动检测算法对目标的机动性进行判别,当目标机动较小时,利用UKF的最优检测性能进行跟踪,而当目标机动较大时,结合TLS的强跟踪性能,采用TLS和UKF联合进行跟踪。从而,在不增加方程维数的情况下,实现机动目标的实时、快速跟踪。仿真结果表明该方法对机动目标具有良好的跟踪性能。

The tracking precision was descended by mismatch moved model when GPS receiver maneuvers.This paper introduced a GPS maneuvering tracking algorithm based on the combination of maneuvering detection,Unscented Kalman Filter(UKF) and Total Least Squares(TLS).We used UKF for its optimal detection performance when receiver maneuvers smaller,and used the combination of UKF and TLS when receiver maneuvers larger.We could realize real-time and fast tracking of a maneuvering receiver without the increase of equation dimensions.The computer simulation resulted show that the method has a good tracking performance for a maneuvering receiver.