基于改进UKF的蛇形机动目标跟踪方法

S Maneuver Target Tracking Based on Improved UKF

为了提高对具有蛇形机动能力的反舰导弹目标轨迹的准确跟踪能力,提出了结合CT转弯机动模型与非线性滤波的目标跟踪方法。首先利用CT模型成功地模拟了蛇形机动的轨迹,然后比较分析了EKF算法与UKF算法对蛇形机动目标的跟踪效果。尽管UKF算法在精度方面优于EKF算法,但是其运算时间较EKF算法明显增加。为实现UKF算法对目标跟踪的实时性,采用比例最小偏度采样减少采样点数量,通过比例修正方法对采样点的分布进行优化,并结合实际状态方程和测量方程直接进行线性运算。仿真实验表明,改进后的UKF算法对蛇形机动目标的跟踪效果与UKF算法相当、明显优于EKF算法,且运算时间较改进前缩短了50%以上。

In order to improve the accuracy of tracking target trajectory of anti-ship missile with snaking maneuverability,a target tracking method combining CT turning maneuverability model with nonlinear filtering is proposed.Firstly,CT model is used to successfully simulate the trajectory of S maneuver,and then the tracking effects of EKF and UKF on S maneuver target is compared and analyzed.Although UKF is superior to EKF in precision,its operation time is significantly increased compared with EKF.In order to improve the real-time performance of UKF algorithm for target tracking,the mini-skewness sampling is adopted to reduce the number of sampling points,the distribution of sampling points is optimized by means of proportion correction and the linear operation is carried out directly by combining the actual state equation with the measurement equation.Simulation experiments show that the tracking effects of the improved UKF on the S maneuver target is similar to that of UKF,significantly better than that of EKF,and the computing time is reduced by 50%compared with that of UKF.