导引模型在FTC自适应IMM-UKF目标跟踪算法中的应用
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摘要
在应用IMM算法时,根据战术导弹这种特殊的应用对象,以两种常用导引律为例,推导出导引运动模型作为交互模型集;使用不敏卡尔曼滤波器(UKF)实现了IMM-UKF算法,并根据导引模型的特点引入了弹道收敛因子(FTC)自适应调节IMM算法中的模型转移概率。仿真实验结果表明,这种基于目标导引运动模型的跟踪算法很好地实现了目标跟踪任务,并且有效地分辨出了目标机动的运动模型。
This paper presents a new approach of the Interacting Multiple Model( IMM) algorithm by introducing a non-linear guidance model from the guidance law. Unscented Kalman Filter( UKF) is applied to deal with the non-linear models in the IMM algorithm. Factor of Trajectory Convergence( FTC) is introduced based on the basic characteristic of the missile trajectory to adjust the transition probability online. The simulation results demonstrate that the guidance model based FTC adaptive IMM-UKF algorithm works perfectly in the tracking system.
This paper presents a new approach of the Interacting Multiple Model( IMM) algorithm by introducing a non-linear guidance model from the guidance law. Unscented Kalman Filter( UKF) is applied to deal with the non-linear models in the IMM algorithm. Factor of Trajectory Convergence( FTC) is introduced based on the basic characteristic of the missile trajectory to adjust the transition probability online. The simulation results demonstrate that the guidance model based FTC adaptive IMM-UKF algorithm works perfectly in the tracking system.
引文
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[11]孙松斌,宋建梅,张婧.超低空拦截导弹武器系统的UKF-IMM目标跟踪算法[J].系统工程与电子技术,2009,31(10):2367-2371.SUN S B,SONG J M,ZHANG J.Target tracking algorithm of super-low altitude interceptors based on UKF-IMM[J].Systems Engineering and Electronics,2009,31(10):2367-2371.
[2]姬存慧.基于交互多模型的机动目标跟踪算法研究及硬件实现[D].南京:南京理工大学,2013.JI C H.Maneuvering target algorithm based on IMM and the implementation on FPGA[D].Nanjing:Nanjing University of Science and Technology,2013.
[3]JILKOV V P,ANGELOVA D S,SEMERDJIEV T A.Design and comparison of mode-set adaptive IMM algorithms for maneuvering target tracking[J].IEEE Transactions on Aerospace and Electronic Systems,1999,35(1):343-350.
[4]COOPERMAN R L.Tactical ballistic missile tracking using the interacting multiple model algorithm[C]//Proceedings of the 15th International Conference on Information Fusion,IEEE,2002:824-831.
[5]张少娜.基于均值漂移的目标跟踪算法研究[D].南京:南京邮电大学,2013.ZHANG S N.Research on mean shift based object tracking algorithms[D].Nanjing:Nanjing University of Posts and Telecommunications,2013.
[6]陈里铭.基于随机有限集的多目标跟踪方法研究[D].大连:大连理工大学,2013.CHEN L M.Research on multi-target tracking based on random finite set[D].Dalian:Dalian University of Technology,2013.
[7]YUN J,RYOO C K,CHOI K.Anti-ship missile's guidance law estimation filter using IMM estimator[C]//AIAA Guidance,Navigation,and Control Conference,2010,doi:10.2514/6.2010-8186.
[8]曲毅,廖桂生,朱圣棋,等.MIMO雷达的目标运动方向及速度估计[J].西安电子科技大学学报:自然科学版,2008,35(5):781-784.QU Y,LIAO G S,ZHU S Q,et al.Estimation of the moving angle and velocity of the target in the MIMO radar[J].Journal of Xidian University:Natural Science Edition,2008,35(5):781-784.
[9]JULIER S J,UHLMAN J K.New extension of the Kalman filter to nonlinear systems[J].SPIE,Vol.3068,1997,doi:10.1117/12.280797.
[10]崇阳,张科,吕梅柏.基于“当前”模型的IMM-UKF机动目标跟踪融合算法研究[J].西北工业大学学报,2011,29(6):919-926.CHONG Y,ZHANG K,LU M B.Exploring a better IMMUKF fusion algorithm based on current statistical model in target tracking[J].Journal of Northwestern Polytechnical University,2011,29(6):919-926.
[11]孙松斌,宋建梅,张婧.超低空拦截导弹武器系统的UKF-IMM目标跟踪算法[J].系统工程与电子技术,2009,31(10):2367-2371.SUN S B,SONG J M,ZHANG J.Target tracking algorithm of super-low altitude interceptors based on UKF-IMM[J].Systems Engineering and Electronics,2009,31(10):2367-2371.
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