基于改进UPF的低空小型飞行器跟踪方法

Tracking Method of Low-Altitude Small Aircraft Based on Improved UPF

在低空小型飞行器的单站纯角度目标定位问题中,受限于气象条件、操作水平等因素,对观测目标的测量精度有限。为提高目标跟踪性能、降低硬件要求,该文提出一种适用于三维目标的纯方位目标跟踪算法。针对UPF算法实时性较低的问题,采用超球面分布的SSUT代替UPF中的UT,与UPF算法相比,SSUPF在保证定位精度的同时用时更少。为提高对三维目标跟踪精度,该文采用一种三阶段滤波算法,分别对目标方位角、俯仰角及距离进行滤波。实验表明该方法可降低方位角与俯仰角之间的耦合误差,提高对目标状态的估计精度,同时可大大降低目标跟踪所需的计算时间。

In the problem of single-station pure angle target location of low-altitude small aircraft,the measurement accuracy of the observed target is limited due to meteorological conditions,operation level and other factors.In order to improve the performance of target tracking and reduce the hardware requirements,a bearing-only target tracking algorithm for 3D targets is proposed in this paper.Aiming at the problem of low real-time performance of UPF algorithm,SSUT with hyperspherical distribution is used instead of UT in UPF.Compared with UPF algorithm,SSUPF needs less time to ensure positioning accuracy.In order to improve the accuracy of 3D target tracking,a three-stage filtering algorithm is used to filter the target azimuth,pitch angle and distance respectively.The experimental results show that this method reduces the coupling error between azimuth and pitch angle,improves the estimation accuracy of target state,and greatly reduces the calculation time needed for target tracking.