多导弹协同目标参数估计的EKF设计

Cooperative EKF for Target Parameters Estimation of Multi-Missiles

针对多枚导弹协同对抗来袭目标的情形,为增强导弹的可观测性和目标信息估计精度,基于扩展Kalman滤波方法,完成了多导弹仅有视线角度量测情况下的协同滤波器的设计。通过适当的系统建模和坐标转换,将其他导弹的量测信息转化为自身的伪量测,增强了导弹的可观测性,从而大幅提高了对初始弹目相对距离误差的鲁棒性和系统状态的估计精度。基于Monter Carlo试验法的200次仿真结果也表明所有状态的估计误差在统计意义上都是收敛的。

For fighting the coming adversary target or attacking the high-value target,a cooperative extended Kalman filter (EKF) is presented to improve the observability and target information estimation precision of intercepting missiles.The intercepting missiles are equipped with the seeker who can only provide the bearings-only measure information.Based on system modeling and coordinate transformation,the measure information from other missiles is transformed to the pseudo-measure of the current missile.An information sharing estimation concept is proposed for combining the measurements from the intercepting missiles to improve target tracking and,consequently,estimation performance.The estimator′s performance is compared in the sharing and non-sharing configurations using a nonlinear Monte-Carlo simulation and the simulation numbers is 200.The simulation results show that all the states estimation errors are convergence in the statistical sense.