极坐标系下的目标运动模型研究

Target Motion Model in Polar Coordinates

由于传感器对目标的观测采用的极坐标系或球坐标系与目标运动模型采用的直角坐标系之间是非线性关系,导致按照一般方法难以对目标运动状态做精确的估计.借助直角坐标系下的目标运动模型,导出极坐标系下的目标运动模型,并分别对CV模型和CA模型对应的极坐标系目标运动模型进行了仿真研究.仿真结果表明:依据此模型建立的卡尔曼滤波器对目标运动状态的估计是有效的.

As there is a non-linear relationship between polar coordinates or spherical coordinates where sensors are used for target observation and Cartesian coordinates where target motion model is used, this makes it difficult to do precise estimates for target motion state according to a general method. Based on the target motion model in cartesian coordinates,target motion model in polar coordinates is deduced. Simulations for the target motion models in polar coordinates corresponding to CV model and CA are done respectively. Simulations show that state estimation of the KF based on the target motion model is efficient.