跟瞄激光雷达扫描图像的实时滤波算法

Filtering Algorithms for Scanning Picture of Acquiring and Tracking Laser Radar

为实现跟瞄激光雷达的高精度实时跟瞄,对雷达三维信息实时滤波算法进行了研究。对方位信息,用卡尔曼滤波算法滤波,在保证实时性的同时获得了较好的滤波效果;对距离信息,用去边缘点3×3小窗口中值滤波算法,实现了对距离信息的准实时性滤波。研究表明:该信息处理滤波算法既有优良的滤波性能,又能保证实时性,可提高测角和测距精度,改善整机的实时跟踪性能。

To acquire the high angle and distance measuring resolution and real time tracking performance of the tracking laser radar, the real time information filtering algorithm of the radar was studied in this paper. The Kalman filtering algorithm was used for azimuth information filtering of acquiring and tracking laser radar, and a quasi-real time 3 × 3 median filtering algorithm was used for distance information filtering. The research results showed that this algorithm had good filtering performance in real time, which could improve the angle measuring and distance measuring resolution, thereby improve the real time tracking performance of the acquiring and tracking laser radar greatly.