含无序量测的多传感器目标跟踪滤波算法

由于通信链路的随机时间延迟和星上传感器测量的预处理时间的不同等因素,导致在目标飞行器的测量中产生无序量测现象。为解决该问题,提出了一种基于扩展卡尔曼滤波的前向预测多步滞后无序量测处理算法。该算法首先采用扩展卡尔曼滤波算法估算出目标飞行器的状态方程和协方差方程,然后在滤波过程中利用前向滤波更新的方法,将协方差方程更新结果去相关后,累积到当前协方差方程滤波结果中,从而有效解决了目标飞行器测量中的无序量测问题。最后,将该算法与扩展卡尔曼滤波算法、丢弃算法进行了对比仿真。仿真结果表明,采用该算法处理目标飞行器的位置和飞行速度,得到的测量误差较小,在整个观测时间内,测量误差的收敛性较好,能够实现对目标飞行器的精确测量和跟踪。

A Filter Algorithm of Multi-Sensor Target Tracking Based on Out of Sequence Measurement

The out of sequence measure phenomenon is produced in target aircraft tracking because of the different factors such as random time delay in communication channel,the different pretreatment time in satellite sensor etc.In order to solve the out of sequence measure issues,a multi-step lag out of sequence measure disposal algorithm based on advance forecast and extend Kalman filter is proposed.Firstly,the algorithm adopts extend Kalman filter method to estimate the estate equation and covariance equation of the target aircraft.Then the algorithm utilizes the method of advance filter update in the process of filter,wipes off the relativity of the filter update result of the covariance equation,and accumulates the filter update result to the current covariance equation,and accordingly the algorithm resolves effectively the out of sequence measure problem.Finally,the algorithm is compared with the extend Kalman filter algorithm and the discarding algorithm by simulation.The result of simulation demonstrates that the less measure error is acquired during processing the target aircraft position and velocity,and the convergence ability of measure error is excellent in the whole measure time,and the target aircraft can be accurately measured and tracked by adopting the proposed algorithm.