基于CKF的TDOA/AOA弹道容积估计

TDOA/AOA trajectory cubature estimation based on CKF

为克服光学/声学、GPS和雷达等传感器在弹道量测中面临的诸多问题,提高弹道估计的准确度,提出了采用TDOA与AOA联合的UWB定位技术为量测手段、以质点弹道方程为状态依据的CKF弹道估计算法。通过仿真实验表明:该算法克服了EKF滤波精度低和UKF不稳定的缺点,CKF对弹丸位置的估计精度较EKF与UKF可分别提高34.57%和8.68%,且稳定性较高。

In order to resolve the problems that the sensors are facing in the trajectory measurement based on optics,acoustics,GPS,radar and so forth,and improve the accuracy of trajectory estimation,herein,a CKF trajectory estimate algorithm is proposed.The algorithm adopts ultra wide band positioning technology combined TDOA with AOA as the measurement method based on the particle trajectory equation.Thus it can overcome the demerits such as low filtering precision of EKF and instability of UKF.The results of the emulation test indicate that compared with that using the algorithms of EKF and UKF,the estimate precision of the projectile location using CKF algorithm can increase 34.57% and 8.68% respectively,and this algorithm has a higher stability.