Converted State Equation Kalman Filter for Three-dimensional Target Tracking

被引：0

作者：

Liu, Zengli ^{[1
]}

Zhang, Wen ^{[1
]}

Cao, Qihong ^{[2
]}

Zhao, Xuanzhi ^{[1
]}

Liu, Kang ^{[3
]}

Zeng, Sai ^{[4
]}

机构：

[1] Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Yunnan, Kunming,650500, China

[2] Unit 32392 of PLA, Yunnan, Kunming,650224, China

[3] School of Environmental Science and Engineering, Southern University of Science and Technology, Guangdong, Shenzhen,518055, China

[4] Shanghai Marine Electronic Equipment Research Institute, Shanghai,201108, China

来源：

Binggong Xuebao/Acta Armamentarii | 2024年 / 45卷 / 11期

关键词：

The three-dimensional spherical coordinate measurements collected by the radar and sonar system are nonlinear with the Cartesian coordinate state of the moving target; which limits the tracking accuracy; and. it is more difficult to use the Doppler measurement with strong nonlinearityefficiently. Aiming at the above problems; a state vector composed of distance; pitch angle; azimuth angle and their derivatives is constructed to linearize the measurement equation; and the ordinary differential dynamics equation is discretized in a two-dimensional time-varying polar coordinate system composed of distance and pitch angle. Then the azimuth angle is introduced based on the projection relationship; and a typical three-dimensional constant velocity and constant acceleration motion model in the spherical coordinate system are established. Combined with the standard Kalman filter; the tracking is realized to avoid the nonlinear errorsunder the linear Gaussian framework. The effectiveness and performance advantagesof the proposed method in several three-dimensional tracking scenarios are verified through simulation. © 2024 China Ordnance Industry Corporation. All rights reserved;

D O I：

10.12382/bgxb.2024.0182

中图分类号：

学科分类号：

摘要：

引用

页码：3998 / 4010

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