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针对单站红外被动式跟踪存在不可观测性问题,提出红外与激光主/被动单目标联合跟踪方法。该方法首先针对三维空间任意机动目标的跟踪问题,将参考文献[1]给出的一维机动目标“当前”统计模型推广到三维情况,得到三维情况下跟踪任意机动目标的状态方程和跟踪系统的非线性量测方程。然后对红外探测器测量的角度信息和激光测得的距离信息进行融合,得到正确的测量值。最后提出扩展的自适应卡尔曼滤波算法并进行了仿真研究。仿真表明:方案可行,可同时对目标三个空间坐标轴的位置、速度、加速度进行估计。
In view of the unobservable nature of single-station infrared passive tracking, a joint tracking method of infrared and laser primary / passive single-target is proposed. Firstly, this method extends the one-dimensional maneuvering target “current ” statistical model given in Reference [1] to the three-dimensional case for the tracking problem of any maneuvering target in three-dimensional space, and obtains the state equation of tracking any maneuvering target in three- Tracking system nonlinear measurement equation. Then, the angle information measured by the infrared detector and the distance information measured by the laser are fused to obtain the correct measurement value. Finally, an extended adaptive Kalman filter algorithm is proposed and simulated. The simulation shows that the scheme is feasible and the position, velocity and acceleration of the three spatial axes of the target can be estimated at the same time.