摘要
红外跟踪与激光测距的联合跟踪系统在实际工程中得到越来越多的应用,但两类传感器采样不同步是比较常见的,从而带来了一些新问题。激光测距机的采样频率远远低于红外测角的采样频率,并非每个采样时刻都可以得到测距信息,因此,目标跟踪存在可观测性问题。提出了一种新的红外激光联合跟踪算法,即先对测角数据进行基于变长有限记忆最小二乘的预估计,然后将预估计后的测角结果与激光测距信息一起代入转换测量Kalman滤波方程中进行滤波。由于该算法有效的利用了全部测角信息,因此有利于改善跟踪估计性能。仿真实验表明,该算法具有较高的跟踪精度,且计算量较小。
The associated tracking system combined infrared tracking with laser ranging has more and more use in practical engineering, but it is usual that the sampling timeof the dissimilar sensors are asynchronous, thus there brought about some new problems. The sampling frequency of laser range finder is far lower than that of infrared sensor, and according to some sampling time, the distance measurement information can not be obtained, therefore the target-tracking had observability problem. A new kind of combination tracking algorithm integrated infrared sensor with laser was put forward so as to solve this problem. All of the angle measurements were used to carry out the pre-estimation based on the variablelength memory least-squares method. The pre-estimated angle measurements and the ranging measurements were substituted in the converted measurement Kalman filter equation to carry out the filtering, Because all of the angle measurement information was effectively utilized by these two algorithms, the performance of tracking filter was improved. The simulation results showed that the new algorithm has high tracking accuracy and its computational cost is lower.
出处
《火炮发射与控制学报》
北大核心
2011年第2期86-89,共4页
Journal of Gun Launch & Control
关键词
控制理论
红外跟踪
激光测距
目标跟踪
control theory
infrared tracking
laser ranging
target tracking
