Robust weighted observation fusion square root UKF filtering method for real-time orbit determination of high-precision trajectory
A square root, high-precision technology, applied in the field of real-time orbit determination of multi-sensor tracking missiles, can solve problems such as poor numerical stability, achieve the effects of improving filtering technology, avoiding the problem of filtering divergence, and solving the effect of reducing processing accuracy
Active Publication Date: 2020-12-11
XIAN TECHNOLOGICAL UNIV
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However, the above filtering algorithms may have the problem of poor numerical stability due to the negative definiteness of the error covariance matrix, and these types of methods are aimed at single-sensor tracking targets, so they cannot be directly used in real-time orbit determination of multi-sensor tracking targets. There are certain limitations in ballistic data processing
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[0084] In this example, the photoelectric theodolite and the radar are used to track the missile. Considering the sensor network composed of three stations, the method proposed by the present invention is used to determine the weighted fusion real-time trajectory of the missile, and the three-dimensional coordinates are established with the coordinates of the photoelectric theodolite as the origin. department, of which
[0085] Radar 1 relative site: x 01 =1400,y 01 =1350,z 01 = 1000;
[0086] Radar 2 relative site: x 02 =-2200,y 02 =1500,z 02 = 3400;
[0087] Radar 3 relative site: x 03 =1700,y 03 =-2850,z 03 = 3000;
[0088] The initial state is: x i (:,1)=[3500,1500,1000,-1100,-150,-50,10,10,10]', i=1, 2, 3
[0089] The initial state of filtering is: Xukf(:,1)=[3300,1300,950,-1000,-100,-60,0,0,0]',
[0090] The variance of the measurement noise of each measurement system is
[0091]
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The invention discloses a robust weighted observation fusion square root UKF method for real-time orbit determination of a high-precision trajectory. The method consists of three parts, namely construction of a multi-sensor measurement trajectory dynamic system model, data fusion and robust processing. The multi-sensor measurement trajectory dynamic system model comprises a state equation of a reentry trajectory and an observation equation of each measurement system; the data fusion comprises the step of establishing a centralized fusion trajectory measurement equation; establishing an optimalequation of a weighted measurement fusion system; and calculating a coefficient matrix and an approximation function of the measurement fusion equation; the robust processing comprises the followingsteps: calculating a measurement fusion residual matrix; calculating a robust weight factor based on the M estimation; setting a condition identification abnormal value for judging the abnormal value;calculating a fusion measurement noise equivalent covariance matrix to perform outlier correction; and estimating trajectory parameters by adopting a square root UKF algorithm. According to the invention, measurement information from a plurality of sensors can be effectively fused, abnormal values possibly existing in measurement data can be corrected in time, and high-precision tracking of ballistic trajectories of the plurality of sensors is realized.
Description
technical field [0001] The invention belongs to the technical field of multi-sensor tracking missile real-time orbit determination, and belongs to the technical fields of target tracking, positioning navigation and the like, and in particular relates to a square root UKF filtering method for high-precision ballistic real-time orbit determination with robust weighted observation fusion. Background technique [0002] Missile weapons are the crystallization and incarnation of modern high-tech. They have the outstanding characteristics of offensive weapons, such as long range, high precision, and strong penetration capabilities. They have become weapons and maintenance strategies with super offensive and powerful deterrence. Pillar of balance. In the initial stage of the development of missile weapons, due to the short range of missiles, the accuracy requirements for external ballistic measurement are low. Usually, a single sensor is used to track and measure missiles and calcul...
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Login to View More IPC IPC(8): G01S7/40G01S13/58G06F17/16
CPCG01S7/40G01S13/58G06F17/16
Inventor 黄姣茹李灵芝高嵩钱富才陈超波李继超
Owner XIAN TECHNOLOGICAL UNIV