混合坐标系下跟踪自由段弹道导弹的IMM-UPF算法研究

郭跃1,刘新学1,王才红2

(1.第二炮兵工程大学 初级指挥学院,西安 710025;2.第二炮兵装备研究院,北京 100089)

摘要:为了提高对自由段弹道导弹的跟踪精度,在混合坐标系下构建了自由段弹道导弹不做机动时更为准确的系统动力学模型。为提高对自由段弹道导弹目标机动时的适应能力,结合Singer和当前统计模型给出了自由段弹道导弹机动时的系统动力学模型,利用交互多模型(IMM)实现了对导弹的跟踪。在对探测数据的处理过程中,为了避免探测数据中闪烁噪声的影响,提出了IMM-UPF算法,并分别与EKF、UKF、UPF等算法做了对比分析。仿真结果表明,IMM-UPF算法对存在机动的自由段弹道目标以及雷达闪烁噪声具有良好的适应性,较EKF、UKF、UPF能够获得较高的跟踪精度。

关键词:混合坐标系;弹道导弹;自由飞行弹道;交互多模型;不敏粒子滤波

收稿日期:2014-03-19

作者简介:郭跃(1986- ),男,博士研究生,研究方向为飞行动力学与制导理论。E-mail:guoyue240@163.com。

中图分类号:V412.1文献标识码:A

A Study on IMM-UPF of Tracking Ballistic Missile at Free-flight

Phase in Mixed Coordinate System

GUO Yue1,LIU Xin-xue1,WANG Cai-hong2

(1.Primary Command College,Second Artillery Engineering University,Xi’an 710025,China;

2.Second Artillery Equipment Research Institute,Beijing 100089,China)

Abstract:To improve the accuracy of tracking ballistic missile at free-flight phase,the accurate model of non-maneuvering ballistic missile at free-flight phase was constructed in mixed coordinate system.To improve the adaptability to maneuvering ballistic target,the system dynamics model of ballistic missile maneuvering at free-flight phase was presented combined with Singer and current statistical model,and the interaction multi-models(IMM)was used to track the missile.To avoid the effect of the flicker noise in the tracking data,the IMM-UPF algorithm was proposed,and it was compared to EKF,UKF and UPF respectively.The simulation results show that the IMM-UPF has better adaptability to the maneuvering ballistic target and the flicker noise of target’s data,and it has high accurate tracking ability than EKF,UKF and UPF.

Key words:mixed coordinates system;ballistic missile;free-flight trajectory;interacting multiple model;unscented particle filter

弹道导弹在自由段飞行过程中一般只受到重力和机动控制力的作用而且飞行时间长,因此,自由飞行段是反导拦截的最佳时机,研究雷达系统对自由段弹道目标的跟踪滤波算法对于自由段目标的准确跟踪和拦截都有着重要意义。对自由段弹道目标的运动模型的准确建模和对雷达探测时滤波算法使用是提高其探测精度的关键。文献[1-2]对弹道导弹自由段的运动模型以及一些基本的跟踪模型进行了论述,但是跟踪坐标系通常建立在笛卡尔坐标系或传感器坐标系下。……