考虑非高斯相关噪声的视线角速率提取算法

doi:10.7527/S1000-6893.2020.24629

电子电气工程与控制

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

考虑非高斯相关噪声的视线角速率提取算法

张铎¹, 宋建梅¹, 赵良玉¹, 焦天峰², 丁国强³

1. 北京理工大学宇航学院, 北京 100081;
2. 中国兵器工业导航与控制技术研究所, 北京 100089;
3. 郑州轻工业大学电气信息工程学院, 郑州 450002

收稿日期:2020-08-11 修回日期:2020-08-31 发布日期:2020-09-24
通讯作者: 赵良玉 E-mail:zhaoly@bit.edu.cn
基金资助:
国家自然科学基金（12072027，11532002）

Extraction algorithm for line of sight angular rate in non-Gaussian correlative noise environment

ZHANG Duo¹, SONG Jianmei¹, ZHAO Liangyu¹, JIAO Tianfeng², DING Guoqiang³

1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;
2. Institute of Ordnance Industry Navigation and Control Technology, Beijing 100089, China;
3. College of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China

Received:2020-08-11 Revised:2020-08-31 Published:2020-09-24
Supported by:
National Natural Science Foundation of China (12072027, 11532002)

摘要/Abstract

摘要： 针对捷联导引头敏感信息存在非高斯噪声且状态噪声与观测噪声相关的问题，提出了修正球面坐标系下带有相关噪声解耦的扩展椭球集员滤波（ESMF）算法。首先，通过对弹目相对距离及其变化率的规范化处理，得到修正球面坐标系下的视线角速率提取模型；然后，利用相关噪声解耦方法去除观测方程中耦合的状态噪声项，基于泰勒级数展开推导了相关噪声解耦后的模型线性化表达式，得到包含线性化误差的虚拟噪声椭球集合，并根据最小迹和最小化尺度因子上界的优化方法得到状态更新与观测更新椭球，形成非高斯相关噪声解耦的扩展椭球集员滤波算法。仿真结果表明，所提算法能够在考虑非高斯相关噪声的情况下，实现捷联导引头视线角速率的高精度提取。

关键词: 捷联导引头, 视线(LOS)角速率, 修正球面坐标系, 集员滤波, 相关噪声

Abstract: To extract the Line of Sight (LOS) angular rate of a strapdown seeker with non-Gaussian noises and the correlation between the state noises and the observation noises, an Extended Set Membership Filter (ESMF) with correlated noises decoupling in a modified spherical coordinate system is proposed. An LOS angular rate extraction model in the modified spherical coordinate system is first established by normalizing the relative distance and the rate of change between the projectile and the target. The correlated noises decoupling method is then used to remove the correlated noises coupled in the observation equation, and the Taylor series expansion employed to derive the linearization expression of the decorrelation model to obtain a set of virtual noise ellipsoids containing the linearization error. Moreover, the ellipsoid for state prediction and observation update is optimized by means of minimum trace and minimum upper bound of the scale factor. The simulation results show that the ESMF can achieve good estimation precision with non-Gaussian correlated noises and realize high precision LOS angular rate extraction of the strapdown seeker.

Key words: strapdown seeker, Line of Sight (LOS) angular rate, modified spherical coordinate, set membership filter, correlated noises

中图分类号:

V249.32⁺4

张铎, 宋建梅, 赵良玉, 焦天峰, 丁国强. 考虑非高斯相关噪声的视线角速率提取算法[J]. 航空学报, 2021, 42(7): 324629-324629.

ZHANG Duo, SONG Jianmei, ZHAO Liangyu, JIAO Tianfeng, DING Guoqiang. Extraction algorithm for line of sight angular rate in non-Gaussian correlative noise environment[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(7): 324629-324629.

参考文献

[1] 姚郁, 章国江. 捷联成像制导系统的若干问题探讨[J]. 红外与激光工程, 2006, 35(1):1-6,54. YAO Y, ZHANG G J. Discussion on strapdown imaging guidance system[J]. Infrared and Laser Engineering, 2006, 35(1):1-6,54(in Chinese).
[2] 袁亦方. 全捷联制导弹药制导控制技术研究[D]. 北京:北京理工大学, 2015:107-118. YUAN Y F. Research on guidance and control technology for strapdown guided munition[D]. Beijing:Beijing Institute of Technology, 2015:107-118(in Chinese).
[3] 孙婷婷. 全捷联制导系统关键技术研究[D]. 长春:中国科学院大学, 2016:104-119. SUN T T. Research on the key technology of strap-down guidance system[D]. Changchun:University of Chinese Academy of Sciences, 2016:104-119(in Chinese).
[4] WEI C Z, HAN Y P, CUI N G, et al. Fifth-degree cubature Kalman filter estimation of seeker line-of-sight rate using augmented-dimensional model[J]. Journal of Guidance, Control, and Dynamics, 2017, 40(9):2355-2362.
[5] STALLARD D. An angle-only tracking filter in modified spherical coordinates[C]//Guidance, Navigation and Control Conference. Reston:AIAA, 1987.
[6] 关欣, 彭彬彬, 衣晓. 修正极坐标系下雷达与ESM航迹对准关联[J]. 航空学报, 2017, 38(5):320668. GUAN X, PENG B B, YI X. Track alignment-association of radar and ESM in MPC[J]. Acta Aeronautica et Astronautica Sinica, 2017, 38(5):320668(in Chinese).
[7] 廖雪阳, 任宏光, 章惠君. 基于重采样粒子滤波的目标跟踪算法研究[J]. 航空兵器, 2016(5):25-28. LIAO X Y, REN H G, ZHANG H J. Research on target tracking method based on the resampling particle filter[J]. Aero Weaponry, 2016(5):25-28(in Chinese).
[8] 李璟璟, 伊国兴, 张迎春. 基于粒子滤波的捷联成像导引头视线角速率估计[J]. 弹箭与制导学报, 2009, 29(2):91-94. LI J J, YI G X, ZHANG Y C. Strapdown imaging seeker los rate estimation based on particle filter[J]. Journal of Projectiles,Rockets, Missiles and Guidance, 2009, 29(2):91-94(in Chinese).
[9] 熊舒望. 基于粒子滤波的红外图像多目标并行跟踪方法研究[D]. 南京:南京理工大学, 2016:8-20. XIONG S W. The research on infrared multi-targets tracking based on parallel particle filter[D]. Nanjing:Nanjing University of Science and Technology, 2016:8-20(in Chinese).
[10] 庞威, 谢晓方, 刘家祺, 等. 改进粒子滤波的全捷联导引头制导信息估计[J]. 现代防御技术, 2018, 46(1):79-87,140. PANG W, XIE X F, LIU J Q, et al. Guidance information estimation of full strap-down seeker with improved particle filter[J]. Modern Defence Technology, 2018, 46(1):79-87,140(in Chinese).
[11] 谭丽伟, 殷兴良, 郭大勇. 基于自适应预测滤波的视线转率估计方法[J]. 系统仿真学报, 2013, 25(2):301-306. TAN L W, YIN X L, GUO D Y. Los rate estimation based on adaptive predictive filter[J]. Journal of System Simulation, 2013, 25(2):301-306(in Chinese).
[12] SCHWEPPE F. Recursive state estimation:Unknown but bounded errors and system inputs[J]. IEEE Transactions on Automatic Control, 1968, 13(1):22-28.
[13] MAKSAROV D G, NORTON J P. State bounding with ellipsoidal set description of the uncertainty[J]. International Journal of Control, 1996, 65(5):847-866.
[14] KURZHANSKI A B, VARAIYA P. Ellipsoidal techniques for reachability analysis:Internal approximation[J]. Systems & Control Letters, 2000, 41(3):201-211.
[15] CHERNOUSKO F L. Ellipsoidal state estimation for dynamical systems[J]. Nonlinear Analysis:Theory, Methods & Applications, 2005, 63(5-7):872-879.
[16] SCHOLTE E, CAMPBELL M E. A nonlinear set-membership filter for on-line applications[J]. International Journal of Robust and Nonlinear Control, 2003, 13(15):1337-1358.
[17] 柴伟, 孙先仿. 非线性椭球集员滤波及其在故障诊断中的应用[J]. 航空学报, 2007, 28(4):948-952. CHAI W, SUN X F. Nonlinear set membership filtering using ellipsoids and its application in fault diagnosis[J]. Acta Aeronautica et Astronautica Sinica, 2007, 28(4):948-952(in Chinese).
[18] 宋大雷, 吴冲, 齐俊桐, 等. 基于MIT规则的自适应扩展集员估计方法[J]. 自动化学报, 2012, 38(11):1847-1860. SONG D L, WU C, QI J T, et al. A MIT-based nonlinear adaptive set-membership filter for ellipsoidal estimation[J]. Acta Automatica Sinica, 2012, 38(11):1847-1860(in Chinese).
[19] 刘玉双, 赵剡, 吴发林. 基于外定界椭球集员估计的纯方位目标跟踪[J]. 北京航空航天大学学报, 2017, 43(3):497-505. LIU Y S, ZHAO Y, WU F L. Bearing-only target tracking based on ellipsoidal outer-bounding set-membership estimation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(3):497-505(in Chinese).
[20] 于浛, 宋申民, 王硕, 等. 具有随机时滞和异步相关噪声的非线性系统的高斯滤波器设计[J]. 中国惯性技术学报, 2015, 23(2):238-247. YU H, SONG S M, WANG S, et al. Improved Gaussian filter algorithm for nonlinear system with random delay and asynchronously correlated noises[J]. Journal of Chinese Inertial Technology, 2015, 23(2):238-247(in Chinese).
[21] CHANG G B. Marginal unscented Kalman filter for cross-correlated process and observation noise at the same epoch[J]. IET Radar, Sonar & Navigation, 2014, 8(1):54-64.
[22] 卢春光, 周中良, 刘宏强, 等. 带异步相关噪声的战斗机蛇形机动跟踪算法[J]. 航空学报, 2018, 39(8):322071. LU C G, ZHOU Z L, LIU H Q, et al. Algorithm for fighter zigzag maneuver target tracking with correlated noises at one epoch apart[J]. Acta Aeronautica et Astronautica Sinica, 2018, 39(8):322071(in Chinese).
[23] LU K L, ZHOU R, LI H. Event-triggered cooperative target tracking in wireless sensor networks[J]. Chinese Journal of Aeronautics, 2016, 29(5):1326-1334.
[24] BAR-SHALOM Y, LI X R, KIRUBARAJAN T. Estimation with applications to tracking and navigation[M]. New York:John Wiley & Sons, Inc., 2001.

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

考虑非高斯相关噪声的视线角速率提取算法

Extraction algorithm for line of sight angular rate in non-Gaussian correlative noise environment

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 4

编辑推荐

Metrics

本文评价

[1]	杨胜江, 温求遒, 周冠群, 夏群利, 黄文宇. 考虑捷联导引头最小视场角约束的制导策略[J]. 航空学报, 2020, 41(S2): 724449-724449.
[2]	卢春光, 周中良, 刘宏强, 寇添, 杨远志. 带异步相关噪声的战斗机蛇形机动跟踪算法[J]. 航空学报, 2018, 39(8): 322071-322071.
[3]	樊会涛, 闫俊. 相控阵制导技术发展现状及展望[J]. 航空学报, 2015, 36(9): 2807-2814.
[4]	樊会涛, 杨军, 朱学平. 相控阵雷达导引头波束稳定技术研究[J]. 航空学报, 2013, 34(2): 387-392.