基于SCKF的光电跟瞄系统等效复合控制

Equivalent combined control of photoelectric tracking and pointing system based on square-root cubature Kalman filter

由于高能激光武器独特的毁伤机理要求其光电跟踪瞄准系统的控制精度达到微弧度级,因此由跟踪目标加速度带来的跟踪误差已不可忽略。提出了一种速度与加速度前馈补偿以提高光电跟瞄系统跟踪精度的方法,推导了该系统加速度前馈补偿的误差系数。为获得高精度的目标运动要素,应用平方根容积卡尔曼滤波(square-root cubature Kalman filter,SCKF)算法对目标进行滤波预测。在建立的等效复合控制系统中进行仿真实验,结果表明,基于SCKF前馈补偿方法相对于基于常用非线性卡尔曼滤波算法的前馈补偿方法,精度得到大幅提高。

As the special damage principle of a high-energy laser weapon demands that the control precision of the tracking and pointing system reaches microradian level,the tracking error generated by the acceleration of target should not be ignored any more.A method of supplying feedforward compensation of velocity and acceleration is proposed to improve the control precision of the tracking and pointing system,and the compensation factor of acceleration is derived.To achieve target moving element factors of high accuracy,the square-root cubature Kalman filter（SCKF） algorithm is used.Simulation experiment in an equivalent combined control system shows that the system precision of feedforward compensation based on SCKF is improved largely compared with the one based on nonlinear Kalman filter algorithms in common use.