系统误差和目标状态联合模型的可观测性分析

Observability Analysis of the Joint Model of Systematic Error and Target State

可观测性分析是建立系统误差估计模型的一个必要前提。针对二维平面中系统误差与目标状态联合估计模型的可观测性问题,采用可观测矩阵研究系统的可观测性。文中先建立了二维平面内目标的运动模型以及雷达的观测模型,同时构建了系统可观测矩阵,通过判定可观测矩阵的奇异性研究了系统的可观测性问题,并且给出了可观测度的Maple计算程序。最后,建立了典型的仿真环境,通过仿真分析了有无传感器量测误差情况下系统误差的可观测性及可观测度的特点。

Observability analysis is a precondition for building systematic error estimation model.Focusing on the observability analysis of systematic error and target state jointed estimation model,observability matrix is adopted to study the observability and observability degree of estimation system.Firstly,both dynamic model of target and measurement model of radar are built in twodimension to construct the observability matrix.Then the observability of the estimation system is studied through judging the singularity of observability matrix.At the same time,the Maple computing program of observability degree is given.At last,several typical simulations are provided to illustrate the features of observability and observability degree of system in detail between sensors with and without measurement noise.