Maneuvering target tracking control system based on Kalman filter

A technology of maneuvering target tracking and control system, which is applied in the field of maneuvering target tracking and control system, and can solve the problems of reduced tracking accuracy and lost target.

Active Publication Date: 2015-02-25
BEIJING RES INST OF TELEMETRY
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Problems solved by technology

[0003] In the radio telemetry system, the angular error signal output from the FM telemetry receiver to the self-tracking antenna servo system is inevitably mixed with thermal noise and other interference information, which affects the tracking accuracy of the antenna servo system.
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  • Maneuvering target tracking control system based on Kalman filter
  • Maneuvering target tracking control system based on Kalman filter
  • Maneuvering target tracking control system based on Kalman filter

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Embodiment Construction

[0066] When the radio telemetry system is tracking the target, when the target maneuvers in a large range, due to the existence of dynamic lag, the tracking accuracy will be reduced or even the target may be lost. One of the ways to solve this problem is to develop a suitable target motion model. Through Kalman The filter algorithm estimates and predicts the target motion parameters and motion state. The present invention adopts the "current" statistical model as the target motion model, constructs target angular position, angular velocity, and angular acceleration observer, and realizes the maneuvering target Kalman filter algorithm in the antenna control unit. , using UD factorization to prevent Kalman filter divergence, using outlier rejection algorithm to reduce filtering error caused by measurement input, using maneuver frequency adaptive algorithm to improve the adaptation of Kalman filter algorithm based on "current" statistical model to maneuvering target tracking predic...

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Abstract

A maneuvering target tracking control system based on a Kalman filter comprises an antenna control unit, an antenna drive unit and an antenna pedestal. In a tracking mode, the antenna control unit estimates the angular velocity of a maneuvering target through the Kalman filter according to the received angle error of a receiver and the real-time angle position of an antenna, so that feedforward compound control is realized, the control quantity is output to the antenna drive unit, the antenna drive unit controls the antenna pedestal to rotate according to the control quantity until the angle error of the receiver is zero, and thus antenna tracking of the maneuvering target can be achieved. According to the maneuvering target tracking control system based on the Kalman filter, the Kalman filter is used for estimating obtained target angular velocity information in a self-tracking antenna servo system so that the feedforward compound control can be realized, on the basis that system stability is not affected, the dynamic lag of the system is reduced, the tracking precision of the system is greatly improved, and high-precision control over the self-tracking antenna servo system is achieved.

Description

technical field [0001] The invention relates to a maneuvering target tracking control system based on a Kalman filter, which belongs to the technical field of antenna servo systems, and is used to realize high-precision tracking of maneuvering targets, and is suitable for high-precision tracking control of maneuvering targets in a radio telemetry system. Background technique [0002] Self-tracking antenna servo system is an important part of radio telemetry system. The main function of the self-tracking antenna servo system is to make the receiving antenna automatically search for and capture the target when the target enters the line of sight, and continuously track the target with a certain tracking accuracy, so that the target is always near the center line of the main beam of the antenna, so that the maximum Receive Gain Reliable continuous reception of telemetry signals. [0003] In the radio telemetry system, the angular error signal output from the FM telemetry recei...

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Application Information

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IPC IPC(8): H01Q3/08
Inventor 马纪军贾军熊卫红马楠贾建辉
Owner BEIJING RES INST OF TELEMETRY
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