高超声速滑翔目标自适应跟踪方法

针对机动模式复杂多变的高超声速滑翔目标跟踪问题，提出了一种机动频率自适应跟踪方法。采用介于常速度和常加速度模型之间的Singer模型来表征目标气动力加速度的变化，从而建立跟踪系统的状态方程。根据地基雷达量测量获得系统的量测方程，鉴于距离和角度信息的量级相差较大将其由球形量测量转换为位置量测量。为了适应高超声速滑翔目标灵活多样的机动模式，基于正交性原理和无迹卡尔曼滤波算法实现了Singer模型中机动频率参数的自适应。利用滤波信息计算得到能够反映状态模型误差大小的调整因子，用于放大Singer模型中的机动频率，进而调整状态方程的过程噪声以降低模型误差。通过对2种典型机动轨迹的跟踪仿真，并与交互式多模型等方法进行比较，结果表明所提方法的跟踪精度高、计算量小，能够较好地适应阶跃机动和连续幅值变化的机动。

Adaptive tracking method for hypersonic glide target

A tracking approach with adaptive maneuver frequency is proposed in terms of tracking a Hpersonic Glide Target (HGT) with a variety of maneuver modes. The Singer model between the Constant Velocity (CV) and Constant Acceleration (CA) models is employed to represent the change of aerodynamic acceleration, followed by the establishment of a state equation for the tracking system. The measurement equation is then obtained based on the measurements for ground-based radar. In view of significantly different magnitudes between the range and angle, spherical measurements are transformed into position ones. To adapt to flexible and diverse maneuver modes of HGT, the adaptation of maneuver-frequency parameter is achieved in the Singer model based on the orthogonal principle and the Unscented Kalman Filter (UKF). An adjustment factor which can reflect the state model error is calculated via innovation of filtering and used to enlarge the maneuver frequency in the Singer model. The process noise is subsequently modified in the state equation, reducing the model error. Finally, by tracking two typical trajectories with maneuvers and making comparisons with other methods such as the interacting multiple model, the simulation results indicate that the proposed method has high tracking accuracy and little computational cost, and can well adapt to the step maneuver and the continuous maneuver with various intensity.