平台摇摆对卡尔曼滤波跟踪精度的影响

通过建立目标相对运动坐标系和目标相对运动观测模型,研究了在平台摇摆影响下,跟踪系统观测到的目标运动状态的变化。在分析捷联垂直基准补偿原理的基础上建立了捷联垂直基准平台摇摆角补偿模型,建立的模型结合捷联垂直基准系统的测量能力对其补偿算法进行了理论推导,使模型适用于实际捷联垂直基准系统。通过建立模型以及仿真研究了平台摇摆作用下卡尔曼滤波跟踪精度的变化,指出了摆造成卡尔曼滤波跟踪精度降低甚至离散的主要原因在于模型误差增大。设计仿真实验验证了结论的正确性,为进一步改进跟踪手段提供了理论参考。

Influence of platform swaying on accuracy of Kalman filter tracking

The model for the target relative movement coordinate system and movement tracking is built to study the influence of platform swaying on the targeVs movement status captured by the tracking system.Base on the theory of strapdown vertical datum system compensating,the compensating model for the swaying angle is developed.The compensating model is applicable for the strapdown vertical datum system after theoretical derivation of the compensating algorithm.The influence on accuracy of Kalman filter tracking of platform swaying is analyzed by contrasting the difference between different tracking modes of compensating.The main influence on the accuracy of Kalman filter tracking under the condition of platform swaying is figured out to be the increase of model error,which may cause the divergence of the filter.The simulation model is built to prove the correctness of the conclusion,and the simulation result can provide theoretical reference for improving the ship-based tracking theory.