基于超短基线声传感器阵的高速目标轨迹估计

针对低空高速飞行目标跟踪问题,首先研究了某典型目标噪声信号的时频特性,发现其信号呈现宽带低频特征,难以从频域对目标轨迹进行估计。在此基础上,从各路接收信号的到达时延量入手,考虑到声基阵只能布设于有限空间内的制约,提出了一种基于超短基线阵时延估计的目标跟踪方法。该方法利用各个超短基线阵接收声强极值点分别估计目标运动轨迹垂线方向,计算多个垂线的叉乘向量实现对目标运动方向的估计,再利用多面交汇的方式获估计得到目标运动轨迹。分别对目标俯仰角、方位角及运动轨迹估计的理论误差进行了推导,根据理论估计误差,为能够实现对目标运动轨迹的估计,各个超短基线阵应尽量保证与目标运动轨迹不在同一平面上。根据仿真结果,在采用4个传感器基阵时,角度估计平均误差在4°以内,位置估计相对误差在5%左右。仿真结果验证了该方法的有效性。     

Moving scanning emitter tracking by a single observer using time of interception: Observability analysis and algorithm

The target motion analysis (TMA) for a moving scanning emitter with known fixed scan rate by a single observer using the time of interception (TOI) measurements only is investigated in this paper.By transforming the TOI of multiple scan cycles into the direction difference of arrival (DDOA) model,the observability analysis for the TMA problem is performed.Some necessary conditions for uniquely identifying the scanning emitter trajectory are obtained.This paper also proposes a weighted instrumental variable (WIV) estimator for the scanning emitter TMA,which does not require any initial solution guess and is closed-form and computationally attractive.More importantly,simulations show that the proposed algorithm can provide estimation mean square error close to the Cramer-Rao lower bound (CRLB) at moderate noise levels with significantly lower estimation bias than the conventional pseudo-linear least square (PLS) estimator.     

Azimuth/elevation direction finding using regular array geometries

The authors consider the problem of extending the estimation of signal parameters via rotational invariance techniques (ESPRIT) algorithm for multiple source, cochannel direction finding to the two-dimensional case (e.g., azimuth and elevation angle estimation). Two algorithms are presented, one based on the optimal (minimal variance) subspace fitting formulation of ESPRIT, and the other based on an approximation to it. The algorithms are applicable to antenna arrays composed of identical subarrays displaced in two dimensions, such as uniform rectangular phased arrays. Simulation results illustrating the relative performance of the algorithms are also presented     

Improving ESPRIT via beamforming

Beamforming techniques are presented that improve the performance of the ESPRIT (estimation of signal parameters via rotational invariance techniques) algorithm for solving the narrowband multiple source location problem with uniform linear arrays. Using ESPRIT with these beamforming approaches maintains the computational advantage of the original ESPRIT while further exploiting the special structure of uniform linear arrays. Simulation results show that the use of ESPRIT with beamforming yields significantly improved performance compared with the original ESPRIT     

On radar detection and direction finding using sparse arrays

The potential performance of radar systems employing sparse arrays is investigated. Different sparse array geometries are evaluated with respect to detection and estimation performance. We present appropriate tools for analytical computation of the detection and estimation performance of the likelihood ratio test (LRT) and the maximum likelihood estimator (MLE), respectively. Particular attention is paid to the effect of ambiguity errors on system performance. The results show that sparse arrays have several advantages over nonsparse arrays, but that ambiguities deteriorate performance when sidelobe interference is present. Some ways to mitigate the ambiguity effects on system performance are briefly discussed.     

基于模型预测静态规划的自适应轨迹跟踪算法

轨迹跟踪是飞机自主运动控制的关键问题之一。跟踪模型预测静态规划（T-MPSP）是一种新近发展的基于非线性模型的轨迹跟踪算法,但对于飞行器受损等情况下,模型参数相较于标称模型具有较大的偏差时,则可能导致轨迹跟踪效果不理想。提出了基于参数估计的自适应轨迹跟踪算法,在模型预测静态规划（MPSP）的框架下得出解析解,实现了对参数的实时估计,据此更新跟踪模型预测静态规划算法中所使用的模型后,可以有效扩大对参数偏离的适应性,并保留模型预测静态规划计算效率高的特点。通过仿真对比得出,相较于已有的跟踪模型预测静态规划,改进后的算法对模型参数偏离的容忍性明显提高,且算法迭代效率高,适于在线应用。     

双L型阵列DOA估计的PM算法的性能分析与改进

 双L型阵列天线的二维信号来向（DOA）估计采用传播算子法（PM），运算简单、计算量小。但对于非对称的双L型阵列天线，其中阵元数目少的均匀直线阵会引起较大的DOA估计误差。为此进行PM算法的性能分析与误差讨论，在单个信号源的前提下提出一种改进的PM算法。理论分析与计算机仿真结果均表明，该改进的PM算法保持了PM本身计算量小的优点，能够实现实时二维DOA估计。同时提高了测角精度，降低了方差，且对双L型阵列的使用更具普遍性。     

Solar power system options for the Radiation and TechnologyDemonstration spacecraft

The Radiation and Technology Demonstration (RTD) Mission has the primary objective of demonstrating high-power (10 kilowatts) electric thruster technologies in Earth orbit. This paper discusses the conceptual design of the RTD spacecraft photovoltaic (PV) power system and mission performance analyses. These power system studies assessed multiple options for PV arrays, battery technologies and bus voltage levels. To quantify performance attributes of these power system options, a dedicated Fortran code was developed to predict power system performance and estimate system mass. The low-thrust mission trajectory was analyzed and important Earth orbital environments were modeled. Baseline power system design options are recommended on the basis of performance, mass and risk/complexity. Important findings from parametric studies are discussed and the resulting impacts to the spacecraft design and cost     

基于最优样条节点的导弹主动段弹道估计方法

拟合导弹主动段弹道并估计其弹道参数是天基红外系统(SBIRS)的重要任务之一。首先采用三次样条函数对导弹主动段弹道进行描述,并建立主动段弹道的运动模型和测量模型;其次采用最大似然估计方法将导弹弹道估计问题转化为非线性最小二乘准则下的样条系数和样条节点分布最优估计问题;最后利用投影定理将样条系数估计和样条节点分布估计分离开来,并通过迭代逼近给出了最优样条节点数的确定方法。仿真实验结果表明,所提方法不仅对主动段弹道的拟合精度高,而且还减少了待估参数的数目,简化了求解过程,可在无先验信息条件下较好地解决导弹主动段弹道的估计问题。     

改善三元子阵测距精度方法研究

在水声领域,三元子阵测距、目标运动分析(TMA)和匹配场处理(MFP)是被动噪声测距的3种主要技术。文中以三元子阵测距声呐为研究对象,从波束形成、相关系数处理、测向精度改进等方面讨论提高时延估计精度的方法,对工程应用具有一定的参考价值。     

Properties and performance of extended target motion analysis

The problem of target motion analysis (TMA) has been the subject of an important literature. However, present methods use data estimated by a short time analysis (azimuths, Dopplers, etc.). For far sources, the nonstationarities of the array processing outputs, induced by the sources motion, may be simply modeled. This model leads one to consider directly a spatio-temporal TMA. Then new (spatio-temporal) data can be estimated. These estimates correspond to a long time analysis. Further, note that they are estimated independently of the (classical) bearings. In this general framework, the concept of source trajectory replaces the classical instantaneous bearings. Corresponding TMA algorithms are then studied. Then the study of statistical performance is carefully studied     

Performance analysis of wavefront curvature methods for rangeestimation of a moving source

In numerous practical situations a large array of sensors is required, especially for improving the system ability to detect and track moving sources. However, the array performance is strongly affected by the lack of stationarity of the impinging signals. The use of a large array of sensors allow us to perform the source localization by using the wavefront curvature. The analysis of the range estimates based on the wavefront curvature have been thoroughly performed by various authors but, to our knowledge, is restricted to the case of fixed sources. The study of the effects of source motion for range estimation (Section III) and source detection (Section V) constitutes an important part of this work. This study reveals that the array performance can be far from the expected values, especially for large array. Therefore, the robustness of a direct processing of the whole sensor array is very questionable. The computational burden constitutes another serious drawback of this (direct) approach. The use of partitioned processings (Sections IV and VI) seems thus quite promising even if (and perhaps because) it is not optimal so as to fulfil the computation cost and robustness requirements. The performance of such processings for estimating the range of moving sources is presented     

Fiber-optic gyros and quartz accelerometers for motion control

In article the opportunity of use strapdown inertial navigation system (SINS) on the base of fiber-optic gyroscopes and quartz accelerometers corrected from star sensors and satellite navigation equipment (SNE) for perspective interplanetary spacecrafts motion control on phases of interplanetary trajectory insertion, trajectory correction, and braking during transition to Mars orbit is investigated. Results of onboard control complex accuracy characteristics estimation are presented at the given dynamic spacecraft scheme which is taking into account the liquid oscillations in tanks and structure elements elasticity. At modelling the errors of measuring devices installation, errors of SINS initial alignment and instrumental errors of SINS sensitive elements, variation of control engines parameters were taken into account. The structure of the developed complex of imitation modelling of interplanetary spacecraft controlled motion is resulted. Estimations of active flight legs realization accuracy were received by a method of statistical modelling of spacecraft controlled motion     

基于IMMKF算法的ADS-B监视应用目标跟踪

目标跟踪是机载广播式自动相关监视（ADS-B）应用的基础功能,对提升航空器周边的弱机动民航飞机目标跟踪性能具有重要意义。提出一种基于交互式多模型卡尔曼滤波（IMMKF）算法的ADS-B 监视应用目标跟踪方法。首先,针对弱机动背景下的民航飞机的飞行特点,建立包含匀速模型和标准协同转弯模型的运动模型集,并对模型进行线性化近似;然后,将模型预测和ADS-B 状态矢量量测数据作为IMMKF 算法中多个并行卡尔曼滤波器的输入,进行并行滤波;最后,计算得到目标状态矢量的估计和模型近似概率,并作为下一次迭代的输入。结果表明：相比于基于匀速模型的卡尔曼滤波目标跟踪方法,IMMKF 方法的位置跟踪误差降低了59%,速度跟踪误差降低了77%,显著提升了状态估计性能,具备较高的跟踪精度、稳健性与计算效率,在ADS-B 监视应用中具有实际应用价值与借鉴意义。     

A distributed approach for lidar-based relative state estimation of multi-UAV in GPS-denied environments

In this paper, we present a distributed framework for the lidar-based relative state estimator which achieves highly accurate, real-time trajectory estimation of multiple Unmanned Aerial Vehicles(UAVs) in GPS-denied environments. The system builds atop a factor graph, and only onboard sensors and computing power are utilized. Benefiting from the keyframe strategy, each UAV performs relative state estimation individually and broadcasts very partial information without exchanging raw data. The com...     

运动单阵元被动合成阵列波达方向估计

 提出了一种运动单阵元被动合成阵列波达方向(DOA)估计算法。该算法基于被动合成阵列(PSA)的概念,结合空间谱估计的思想构建了运动单阵元被动合成阵列模型,通过多次不同速度合成阵列过程实现对信号DOA的无模糊估计。通过对单次匀速合成阵列过程进行分析得到,在假设信号频率已知条件下,合成阵列算法能够达到与同孔径实阵列多重信号分类（MUSIC）算法相当的DOA估计性能。仿真验证了被动合成阵列与同孔径实阵列的渐近等效性及算法的有效性。     

Three-dimensional trajectory estimation from image position and velocity

A recursive algorithm for estimating the three-dimensional trajectory and structure of a moving rigid object in an image sequence has been previously developed by Broida, Chandrashekhar, and Chellappa [1990]. Since then, steady advances have occurred in the calculation of optical flow. This work improves 3D motion trajectory and structure estimation by incorporating optical flow into the estimation framework. The new solution combines optical flow and feature point measurements and determines their statistical relationship. The feasibility of a hybrid feature point/optical flow algorithm, demonstrated through detailed simulation on synthetic and real image sequences, significantly lowers bias and mean squared error in trajectory estimation over the feature-based approach.     

Target tracking with a network of Doppler radars

By observing a Doppler signal at several points in space, it is possible to determine the position, velocity, and acceleration of a moving target. Parameter identification for a constant-acceleration motion model is studied, and the Cramer-Rao bound on motion parameter uncertainty is obtained for phaseand frequency-based estimation strategies, with the result that the preferred strategy depends upon the sensor/target geometry and target motion. Direct identification of the constant-acceleration trajectory model from the Doppler signal requires a 9-dimensional nonlinear optimization. Exploiting symmetry in the sensing geometry, a novel trajectory representation is presented which reduces the nonlinear optimization to one in 3 dimensions, with additional parameters obtained by linear identification. Baseball tracking using a network of four Doppler radars is experimentally demonstrated     

机动弹道对抗导弹防御系统的效能分析

为了研究机动弹道对抗导弹防御系统的突防效能,梳理了弹道导弹防御系统的组成与作战流程,通过剖析系统的信息流向与处理过程,提炼出机动弹道突防导弹防御系统的机理,即采用机动弹道可使导弹预警信息处理能力下降,从而破坏、瘫痪导弹防御系统,实现导弹的有效突防.通过仿真滑翔机动弹道和椭圆弹道,并对计算的跟踪弧段、弹道估计和预报误差进行比较,结果表明：采用机动弹道,观测弧段压缩44％,弹道估计误差增大数倍,有效预报时间大大缩短.因此,采用机动弹道是导弹突防的一种有效手段.