ردیابی اهداف مانور بالا مبتنی بر روش حالت افزوده با استفاده از فیلتر کالمن خنثی تطبیقی

کارساز, علی; مولایی کبودان, سید وحید

ردیابی اهداف مانور بالا مبتنی بر روش حالت افزوده با استفاده از فیلتر کالمن خنثی تطبیقی

نوع مقاله : مقاله پژوهشی

نویسندگان

¹ استادیار موسسه آموزش عالی خراسان

² دانشجوی کارشناسی ارشد، موسسه آموزش عالی خراسان

چکیده

بسیاری از روشهای ردیابی اهداف راداری مانور بالا مانند روش حالت افزوده بر اساس شبیهسازی معادلات حرکت هدف و رادار در مختصات کارتزین صورت میپذیرند. در محیط عملیاتی همراه با اختلالهای نویزی، ردیابی اهداف راداری به خصوص در مانورهای بالا که هدف در حال دور شدن از محل استقرار رادار است، خطای اندازهگیری رادار روی محورهای کارتزین دائما رو به افزایش بوده در صورتیکه در بسیاری از مقالات، خطای مشاهدات با کواریانس ثابتی روی محورهای مختصات کارتزین لحاظ میگردد. از طرفی بردار واقعی مشاهدات رادار شامل فاصله و زاویه سمت هدف در مختصات قطبی بوده و مدلسازی این مشاهدات در این مختصات باعث غیرخطی شدن روابط میشود و نیاز به روشهای تخمین غیرخطی مانند فیلتر کالمن خنثییا توسعهیافته را ایجاد مینماید. روش پیشنهادی در این مقاله با بهکارگیری ایده حالت افزوده در مختصات قطبی به رهگیری اهداف راداری مانور بالا بر اساسفیلتر کالمن خنثی میپردازد روش پیشنهادی با بهکارگیری الگوریتم تطبیق ماتریس کواریانس تخمین در هر مرحله، معضل همگرایی دیرهنگام فیلتر را برطرف نموده و از واگرایی آن جلوگیری مینماید. نتایج شبیهسازی در سناریوهای مانور متوسط و بالا بر اساس روش پیشنهادی نسبت به دو روش فیلتر کالمن خنثیو توسعهیافته، بهبود بیش از 90 درصدی را نشان میدهد.

کلیدواژه‌ها

عنوان مقاله [English]

High Maneuvering Target Tracking Based on Augmented State Method using Adaptive Unscented Kalman Filter

نویسندگان [English]

A. Karsaz ¹
S. V. Molaei Kaboodan ²

¹ khorasan university

² khorasan university

چکیده [English]

Many high maneuvering target tracking approaches, such as augmented state method, are based on target motion and radar modeling in the Cartesian coordinates., The projected radar observation errors along the Cartesian coordinates are continuously increasing in the target tracking problem in noisy operation environments especially in the high maneuvering situations that the target is moving away from radar location. Whereas, in various simulations that are performed in many papers, these observation errors are considered to have constant covariance values along the Cartesian coordinates. The real radar observation vector including target range and bearing is generally stated in Polar coordinates, and the nonlinearity of the radar observations in the Polar coordinates makes it necessary to implement the nonlinear estimation approaches such as unscented Kalman filter (UKF) or extended Kalman filter (EKF). In this paper, high maneuvering target tracking is performed using the augmented state idea in the Polar coordinates based on UKF. The new proposed method also overcomes the late convergence of estimation and prevents filter divergence using the adaptive covariance matrix approach. The simulation results obtained by the proposed method for both medium and high maneuvering scenarios show more than 90 percent improvement compared with the UKF and EKF algorithms.

کلیدواژه‌ها [English]

Unknown Input Estimation
High Maneuvering Target Tracking
Adaptive UKF
Augmented State Approac

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