用卡尔曼滤波实现单轴跟踪系统的前馈复合控制

在跟踪系统中 ,利用目标单轴向运动加速度的非零均值相关模型可以构造目标的运动学方程 ,用接收机角误差信号和天线座测角传感器信号重构目标位置量测的方法 ,可以组成目标运动的量测方程 ,从而构造关于目标位置、速度、加速度的状态估计器。利用目标机动加速度的当前统计模型 ,则实现了该估计器加速度的均值和方差的自适应滤波估计运算。针对状态方程为上三角阵的特点 ,采用一次一个量测的处理方法 ,对误差协方差阵的传播和更新实现全上三角矩阵因子分解 ,保证了估计器实时运算的数字稳定性。上述技术的综合应用 ,用卡尔曼估计器实现了单轴角跟踪系统的前馈复合控制

Implementation of Feedfoward Compound Control in A TrackingSystem by Use of Kalman Filter

In an autotracking system,the dynamics model of a maneuvering target is described by the non-zero mean time correlated model of the maneuvering acceleration for single axis movement,and the measurement equation is formed by the sum of the angle error delivered from receiver and the angle measurement picked up from the sensor on antenna pedestal,then the States estimator of the position and velocity and acceleration of a target can be constructed.By use of the current statistical model of maneuvering acceleration,the adaptive filtering for maneuvering acceleration mean value and variance is realized.Facing the feature that the state matrix is a upper triangular matrix,the measurements are treated in once a measurement,all upper triangular matrix factorization is realized for time propagation and measurement update of the covariance matrixes calculation,and the numeric stability of the real time filtering calculation is ensured.By the synthetic application of all above techniques,the Kalman filter estimator has been used to implement the feedfoward compound control in a single axis angular tracking system.