﻿ 网络瞄准中的异步传感器空间配准算法
 文章快速检索 高级检索

Algorithm of asynchronous sensors bias estimation in networked targeting
Yong Xiaoju, Fang Yangwang, Zhang Dengfu, Diao Xinghua
Aeronautics and Astronautics Engineering College, Air Force Engineering University, Xi'an 710038, China
Abstract:Aimed at the problem that the algorithm of asynchronous sensors bias estimation cannot adapt to the maneuver targets, a novel algorithm based on the interpolation was researched. Firstly, the measurement was changed into synchronization data by using the time registration method. Then, the pseudo measurement equation could be obtained according to the time registration results. Be different from other algorithms of which the pseudo measurement, independent of target state, is obtained by getting a adding coefficient according to the target state vector and time of arrival (TOA), the depseudo measurement deigned has no relationship to the target state vector. Moreover, the derivation of the pseudo measurement according to the time registration results is also independent of the movement of target. So, the problem of asynchronous sensors bias estimation with maneuver targets can be solved by the algorithm proposed. The results of simulation show that the sensor bias could be exactly estimated when the target takes a snake maneuver.
Key words: asynchronous sensors     spatial registration     maneuver targets     data fusion     networked targeting

1 基于伪量测的同步空间配准算法 1.1 量测模型

1.2 算法原理

X′1为目标在传感器本地直角坐标系下的真实位置;Xs为传感器的位置；B为目标在传感器本地坐标系下向ECEF坐标系下转换时的转换矩阵:

λ,L分别为目标的经度和纬度.

O(k)=H(k),为测量噪声.由于nA(k),nB(k)为零均值、相互独立的高斯型随机变量,其噪声协方差矩阵分别为RA(k),RB(k),则O(k)同样是零均值高斯型随机变量,其协方差矩阵为

2 异步空间配准算法 2.1 内插外推时间配准算法

 图 1 内插外推时间配准算法Fig. 1 Algorithm of interpolation time registration

2.2 异步传感器空间配准算法

YA(tk－1),YA(tk),YA(tk+1)分别为传感器A对目标在tk－1,tk,tk+1时刻的本地笛卡儿坐标系下的量测值,分别为

a+b+c=1.

tBk时刻,传感器B的量测为

2.3 算法步骤

1) 确定低采样率传感器的数据时刻(如前文中的传感器B的数据时刻tBk);

2) 采用内插外推时间配准算法,根据式(6)计算高采样率传感器的时间配准结果;

3) 根据式(12)计算伪量测方程.

3 仿真分析

3.1 目标匀速直线运动

 图 2 匀速条件下距离误差估计IMREFig. 2 IMRE of range bias estimation with CV motion

 图 3 匀速条件下方位角误差估计IMREFig. 3 IMRE of azimuth bias estimation with CV motion

 图 4 匀速条件下俯仰角误差估计IMREFig. 4 IMRE of elevation bias estimation with CV motion

3.2 目标蛇形机动

 图 5 机动条件下距离误差估计IMREFig. 5 IMRE of range bias estimation with snake-maneuver motion

 图 6 机动条件下方位角误差估计IMREFig. 6 IMRE of azimuth bias estimation with snake-maneuver motion

 图 7 机动条件下俯仰角误差估计IMREFig. 7 IMRE of elevation bias estimation with snake-maneuver motion

3.3 算法实时性验证

4 结 论

 [1] 孙松斌,宋建梅,张婧.超低空拦截导弹武器系统的UKF-IMM目标跟踪算法[J].系统工程与电子技术,2009,31(10):2367-2371 Sun Songbin,Song Jianmei,Zhang Jing.Target tracking algorithm of super-low altitude interceptors based on UKF-IMM[J].Systems Engineering and Electronics,2009,31(10):2367-2371(in Chinese) Cited By in Cnki (9) | Click to display the text [2] 王琳,于雷,王小强,等.网络瞄准环境下最优分布式航迹融合算法[J].系统工程与电子技术,2011,33(11):2517-2521 Wang Lin,Yu Lei,Wang Xiaoqiang,et al.Optimal distributed track fusion method in network targeting[J].Control Theory and Applications,2011,33(11):2517-2521(in Chinese) Cited By in Cnki (0) | Click to display the text [3] Besada J A,de Miguel G,Bernardos A M,et al.Generic multisensor multitarget bias estimation architecture[J].IET Radar Sonar and Navigation,2012,6(5):365-378 Click to display the text [4] Besada P J A,García H J,De Miguel V G.New approach to online optimal estimation of multisensor biases[J].IEE Proceedings:Radar,Sonar and Navigation,2004,151(1):31-40 Click to display the text [5] Ristic B E,Gordon N.Calibration of multi-target tracking algorithms using non-cooperative targets[J].IEEE Journal of Selected Topics in Signal Processing,2013,7(3):390-398 Click to display the text [6] Nabaa N,Bishop R H.Solution to a multisensor tracking problem with sensor registration errors[J].IEEE Transactions on Aerospace and Electronic Systems,1999,35(1):354-363 Click to display the text [7] Hsieh C S.General two-stage extended Kalman filters[J].IEEE Transactions on Automatic Control,2003,48(2):289-293 Click to display the text [8] 李达,李少洪.基于地心坐标系的多传感器动态偏差估计算法[J].北京航空航天大学学报,2007,33(9):1082-1085 Li Da,Li Shaohong.Multisensor dynamic bias estimation with earth-centered earth-fixed coordinate system[J].Journal of Beijing University of Aeronautics and Astronautics,2007,33(9):1082-1085(in Chinese) Cited By in Cnki (1) [9] Lin X,Bar-Shalom Y,Kirubarajan T.Multisensor-multitarget bias estimation for general asynchronous sensors[J].IEEE Transactions on Aerospace and Electronic Systems,2005,41(3):899-921 Click to display the text [10] Hu Y Y,Zhou D H. Bias fusion estimation for multi-target tracking systems with multiple asynchronous sensors[J].Aerospace Science and Technology,2013,27(1):95-104 Click to display the text [11] Ristic B,Okello N.Sensor registration in ECEF coordinates using the MLR algorithm[C]//Proceedings of the 6th International Conference on Information Fusion,FUSION 2003.Cairns:IEEE Computer Society,2003,1:135-142 Click to display the text [12] Yang W J,Cui F,Li X,et al.Research on time registration algorithms of multi-sensor fusion system[C]//Proceedings of the Conference on Computer Science and Automation Engineering,2011:446-449 Click to display the text [13] 王宝树,李芳社.基于数据融合技术的多目标跟踪算法研究[J].西安电子科技大学学报,1998,25(3):269-272 Wang Baoshu,Li Fangshe.The research on multiple targets tracking based on the data fusion technique[J].Journal of Xidian University,1998,25(3):269-272(in Chinese) Cited By in Cnki (89) [14] 梁凯,潘泉,宋国明,等.基于曲线拟合的多传感器时间对准方法研究[J].火力与指挥控制,2006,31(12):51-53 Liang Kai,Pan Quan,Song Guoming,et al.The study of multi-sensor time registration method based on curve fitting[J].Fire Control and Command Control,2006,31(12):51-53(in Chinese) Cited By in Cnki (18) [15] Yin H L,Lan J,Li X R.New robust metrics of central tendency for estimation performance evaluation[C]//15th International Conference on Information Fusion,FUSION 2012.Washington D C:IEEE Computer Society,2012:2020-2027 Click to display the text

#### 文章信息

Yong Xiaoju, Fang Yangwang, Zhang Dengfu, Diao Xinghua

Algorithm of asynchronous sensors bias estimation in networked targeting

Journal of Beijing University of Aeronautics and Astronsutics, 2014, 40(12): 1707-1712.
http://dx.doi.org/10.13700/j.bh.1001-5965.2013.0768