基于交互多模型的时变平滑变结构滤波算法

doi:10.7527/S1000-6893.2024.30167

Abstract

Abstract:

To overcome the problems of jitter and ineffective estimation of the unmeasured target state in the smooth variable structure filter， a time-varying smooth variable structure filter based on interactive multi-model is proposed. Firstly， the target state is estimated through the smooth variable structure filter. Subsequently， the jitter problem is solved by computing the time-varying smooth boundary layer and employing the tanh function instead of the saturation function to calculate the initial state gain. Then， Bayesian formulas are applied to recompute the covariance matrix and state gain to update the target state， effectively addressing the challenge of inefficient estimation of unmeasured states in the smooth variable structure filter. Finally， the algorithm is integrated with the interactive multi-model approach to achieve effective tracking of maneuvering targets. Simulation results demonstrate that the proposed algorithm maintains its effectiveness in tracking maneuvering targets under the conditions of model mismatch and changes in measurement noise or non-Gaussian measurement noise. The simulation results indicate that the method proposed has a significant improvement in tracking accuracy and robustness over typical target tracking methods.

Key words: smooth variable structure filter, time-varying smoothing boundary layer, interactive multi-model, state estimation, maneuvering target tracking

CLC Number:

V474

Jian WANG, Lihui ZHOU, Jiafu CHEN, Xinqi LI, Linyang GUO, Zihao HE, Hao ZHOU. Time-varying smooth variable structure filter based on interactive multi-model[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(21): 330167.

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算法	x轴位置/m	y轴位置/m	x轴速度/（m·s^-1）	y轴速度/（m·s^-1）
ISVSF^［14］	123.079	119.789	34.354	33.336
IMM-KF^［24］	127.155	125.748	28.806	27.981
IMM-SVSF^［22］	225.719	217.596	81.784	79.469
UK-SVSF^［16］	131.482	128.693	28.705	27.647
IMM-tanh-VSVSF	104.828	102.753	25.001	24.561

时间/s	运动方式
0~50	（300，280） m/s匀速运动
50~200	角速度为0.1 rad/s的匀速转弯运动
200	加速度为0 m/s²，y轴速度为0 m/s
200~250	角速度为0.1 rad/s的匀速转弯运动
250	加速度为（0.5，0.3） m/s²，x轴速度为0 m/s
250~300	匀加速运动
300	加速度为0 m/s²
300~350	角速度为-0.02 rad/s的匀速转弯运动

算法	x轴位置/m	y轴位置/m	x轴速度/（m·s^-1）	y轴速度/（m·s^-1）
ISVSF^［14］	190.637	180.512	69.780	86.419
IMM-KF^［24］	130.256	129.181	33.882	35.129
UK-SVSF^［16］	205.139	221.865	43.179	47.853
IMM-tanh-VSVSF	109.016	107.156	29.661	33.358

算法	x轴位置/m	y轴位置/m	x轴速度/（m·s^-1）	y轴速度/（m·s^-1）
ISVSF^［14］	232.115	221.880	87.443	96.284
IMM-KF^［24］	244.171	244.293	61.157	62.457
UK-SVSF^［16］	220.121	233.708	43.039	47.108
IMM-tanh-VSVSF	187.936	188.531	39.065	42.961

算法	x轴位置/m	y轴位置/m	z轴位置/m	x轴速度/（m·s^-1）	y轴速度/（m·s^-1）	z轴速度/（m·s^-1）
ISVSF^［14］	182.822	192.819	203.797	94.451	101.343	108.241
IMM-KF^［24］	167.758	155.840	188.102	84.328	129.421	92.380 6
UK-SVSF^［16］	223.558	243.178	258.542	83.215	88.601	86.993
IMM-tanh-VSVSF	107.554	123.723	170.323	51.926	59.622	55.231

Time-varying smooth variable structure filter based on interactive multi-model

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