基于AVSIMM算法的高超声速再入滑翔目标跟踪

肖楚晗; 李炯; 雷虎民; 王华吉

doi:10.13700/j.bh.1001-5965.2018.0314

基于AVSIMM算法的高超声速再入滑翔目标跟踪

doi: 10.13700/j.bh.1001-5965.2018.0314

1.
空军工程大学研究生学院, 西安 710051
2.
空军工程大学防空反导学院, 西安 710051

基金项目:

国家自然科学基金 61573374

国家自然科学基金 61503408

详细信息

作者简介:
肖楚晗女, 硕士研究生。主要研究方向:临近空间高超声速目标跟踪

李炯男, 博士, 副教授。主要研究方向:导航制导与控制

通讯作者:
李炯, E-mail: graceful1001@126.com

中图分类号: TJ765.1
计量
- 文章访问数: 610
- HTML全文浏览量: 46
- PDF下载量: 318
- 被引次数: 0
出版历程
- 收稿日期: 2018-05-30
- 录用日期: 2018-08-10
- 网络出版日期: 2019-02-20

Hypersonic reentry gliding target tracking based on AVSIMM algorithm

1.
Master Student College, Air Force Engineering University, Xi'an 710051, China
2.
Air and Missile Defense College, Air Force Engineering University, Xi'an 710051, China

Funds:

National Natural Science Foundation of China 61573374

National Natural Science Foundation of China 61503408

More Information

Corresponding author: LI Jiong, E-mail: graceful1001@126.com

摘要

摘要:
针对跟踪高超声速目标的交互式多模型（IMM）算法中存在模型数量过多，模型之间竞争导致滤波精度降低的问题，在自适应网格交互式多模型（AGIMM）算法的基础上，提出了一种自适应变结构交互式多模型（AVSIMM）算法跟踪高超声速再入滑翔目标。根据高超声速无动力再入滑翔目标当前机动状态的角速度参数，在自适应调整当前时刻模型集中参数的同时，针对AGIMM算法运动学模型的单一性，设计了具有多种跟踪滤波运动学模型的AVSIMM算法，通过模型集参数与算法结构的双重自适应调整实现了对目标高精度的跟踪。仿真结果表明，与AGIMM算法相比，所设计的AVSIMM算法不仅对结构和参数都具有更强的自适应性，同时提高了高超目标的跟踪精度和跟踪效率。
- 临近空间 /
- 目标跟踪 /
- 滤波 /
- 自适应变结构交互式多模型(AVSIMM) /
- 自适应网格交互式多模型(AGIMM)算法
Abstract:
Aimed at the decrease of filtering accuracy caused by too many models and competitions between them in interactive multi-model (IMM) algorithm for tracking hypersonic targets, an adaptive variable structure interactive multi-model (AVSIMM) algorithm is proposed based on adaptive grid IMM (AGIMM) algorithm for tracking hypersonic non-powered reentry gliding targets. Based on the angular velocity parameters of the real-time maneuvering state of gliding hypersonic target without power load, AVSIMM algorithm with various dynamitic models is designed to focus on the unicity of models in AGIMM algorithm. AVSIMM algorithm realizes high-precision tracking through adaptive adjustments in both model set parameters and algorithm structure. Simulation results show that, compared with AGIMM algorithm, the designed AVSIMM algorithm not only is more adaptive in structure and parameters but also improves accuracy and efficiency in tracking hypersonic targets.
- near space /
- target tracking /
- filter /
- adaptive variable structure interactive multi-model (AVSIMM) /
- adaptive grid interactive multi-model (AGIMM)

HTML全文

图 1 AHW目标与基站相对位置示意图

Figure 1. Schematic diagram of relative position of AHW target to base station

下载: 全尺寸图片幻灯片

图 2 目标运动真实轨迹

Figure 2. True trajectory of target moving

下载: 全尺寸图片幻灯片

图 3 目标真实轨迹与4种算法估计轨迹

Figure 3. True trajectory of target and estimation trajectories in four algorithms

下载: 全尺寸图片幻灯片

图 4 目标跟踪位置误差

Figure 4. Position error of target tracking

下载: 全尺寸图片幻灯片

图 5 目标速度误差

Figure 5. Velocity error of target tracking

下载: 全尺寸图片幻灯片

图 6 位置均方根误差

Figure 6. Root mean square error of position

下载: 全尺寸图片幻灯片

图 7 速度均方根误差

Figure 7. Root mean square error of velocity

下载: 全尺寸图片幻灯片

表 1 位置、速度估计误差绝对值之和

Table 1. Sum of absolute value of position and velocity estimation error

算法	x方向位置误差/ km	y方向位置误差/ km	x方向速度误差/(km·s^-1)	y方向速度误差/(km·s^-1)
AVSIMMⅠ	14.97	150.44	8.11	27.02
AVSIMMⅡ	20.27	169.79	9.02	34.19
AGIMM	35.05	222.14	34.59	73.63
IMM	45.83	306.13	28.30	185.63

下载: 导出CSV

表 2 位置、速度均方根误差之和及仿真时间

Table 2. Sum of root mean square error of position and velocity and simulation time

算法	位置RMSE/km	速度RMSE/ (km·s^-1)	单次仿真时间/s
AVSIMMⅠ	188.0	34.50	1.47
AVSIMMⅡ	213.70	44.15	1.45
AGIMM	302.79	132.30	1.44
IMM	3 896.73	234.55	4.32

下载: 导出CSV

参考文献(25)

[1]	李海宁, 雷虎民, 翟岱亮, 等.面向跟踪的吸气式高超声速飞行器动力学建模[J].航空学报, 2014, 35(6):1651-1664. http://d.old.wanfangdata.com.cn/Periodical/hkxb201406020 LI H N, LEI H M, ZHAI D L, et al.Tracking oriented dynamics modeling of air breath hypersonic vehicles[J].Acta Aeronautica et Astronautica Sinica, 2014, 35(6):1651-1664(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/hkxb201406020
[2]	雍恩米, 钱炜棋, 何开锋.基于雷达跟踪仿真的滑翔式再入弹道突防性能分析[J].宇航学报, 2012, 33(10):1370-1376. doi: 10.3873/j.issn.1000-1328.2012.10.002 YONG E M, QIAN W Q, HE K F.Penetration ability analysis for glide reentry trajectory based on radar tracking[J].Journal of Astronautics, 2012, 33(10):1370-1376(in Chinese). doi: 10.3873/j.issn.1000-1328.2012.10.002
[3]	TAUQEER R S, HE L S, XU D J.Optimal trajectory analysis of hypersonic boost-glide waverider with heat load constraint[J].Aircraft Engineering and Aerospace Technology, 2015, 87(1):67-79. doi: 10.1108/AEAT-04-2013-0079
[4]	ZHAO J, ZHOU R.Reentry trajectory optimization for hypersonic vehicle satisfying complex constraints[J].Chinese Journal of Aeronautics, 2013, 26(6):1544-1553. doi: 10.1016/j.cja.2013.10.009
[5]	黄长强, 国海峰, 丁达理.高超声速滑翔飞行器轨迹优化与制导综述[J].宇航学报, 2014, 35(4):369-379. doi: 10.3873/j.issn.1000-1328.2014.04.001 HUANG C Q, GUO H F, DING D L.A survey of trajectory optimization and guidance for hypersonic gliding vehicle[J].Journal of Astronautics, 2014, 35(4):369-379(in Chinese). doi: 10.3873/j.issn.1000-1328.2014.04.001
[6]	王国宏, 李俊杰, 李志淮, 等.基于SCT-IMM的临近空间高超声速机动目标跟踪模型[J].现代雷达, 2013, 35(4):15-19. doi: 10.3969/j.issn.1004-7859.2013.04.004 WANG G H, LI J J, LI Z H, et al.Tracking model based on the SCT-IMM near space hypersonic target[J].Modern Radar, 2013, 35(4):15-19(in Chinese). doi: 10.3969/j.issn.1004-7859.2013.04.004
[7]	苗伟, 李昌玺, 吴聪.基于修正转弯模型的交互多模型跟踪算法[J].现代防御技术, 2015, 43(3):113-118. doi: 10.3969/j.issn.1009-086x.2015.03.021 MIAO W, LI C X, WU C.Interactive multiple model tracking algorithm based on the modified model of turning[J].Modern Defence Technology, 2015, 43(3):113-118(in Chinese). doi: 10.3969/j.issn.1009-086x.2015.03.021
[8]	关欣, 赵静, 张政超, 等.一种可行的高超声速飞行器跟踪算法[J].电讯技术, 2011, 51(8):80-84. doi: 10.3969/j.issn.1001-893x.2011.08.017 GUAN X, ZHAO J, ZHANG Z C, et al.A feasible tracking algorithm for hypersonic aircrafts[J].Telecommunication Engineering, 2011, 51(8):80-84(in Chinese). doi: 10.3969/j.issn.1001-893x.2011.08.017
[9]	张远, 吴昊.临近空间目标运动建模与跟踪方法研究[J].火控雷达技术, 2013, 42(4):22-27. doi: 10.3969/j.issn.1008-8652.2013.04.004 ZHANG Y, WU H.Study on modeling of near-space moving targets and its tracking algorithm[J].Fire Control Radar Technology, 2013, 32(4):22-27(in Chinese). doi: 10.3969/j.issn.1008-8652.2013.04.004
[10]	李俊杰, 王国宏, 张翔宇, 等.临近空间高超声速滑跃式机动目标跟踪的IMM算法[J].电光与控制, 2015, 22(9):15-19. http://www.cnki.com.cn/Article/CJFDTOTAL-DGKQ201509005.htm LI J J, WANG G H, ZHANG X Y, et al.An IMM algorithm for tracking near-space hypersonic target with slippage leap maneuvering[J].Electronics Optics & Control, 2015, 22(9):15-19(in Chinese). http://www.cnki.com.cn/Article/CJFDTOTAL-DGKQ201509005.htm
[11]	ZHU W L, XU Z P, LI B, et al.Research on the observability of bearing-only target tracking based on multiple sonar sensors[C]//Proceedings of 20122nd International Conference on Instrumentation, Measurement, Computer, Communication and Control(IMCCC).Piscataway, NJ: IEEE Press, 2012: 631-634.
[12]	ZHU W L, XU Z P, LI B, et al.Research on the observability of bearing-only tracking for moving target in constant acceleration based on multiple sonar sensors[C]//Proceedings of 2012 International Symposium on Information Science and Engineering.Piscataway, NJ: IEEE Press, 2013: 3-6.
[13]	何友, 修建娟, 关欣, 等.雷达数据处理及应用[M].北京:电子工业出版社, 2013:36-40. HE Y, XIU J J, GUAN X, et al.Radar data processing and application[M].Beijing:Electronics Industry Press, 2013:36-40(in Chinese).
[14]	韩崇昭, 朱洪艳, 段战胜, 等.多源信息融合[M].2版.北京:清华大学出版社, 2010:1-14. HAN C Z, ZHU H Y, DUAN Z S, et al.Multi-source information fusion[M].2nd ed.Beijing:Tsinghua University Press, 2010:1-14(in Chinese).
[15]	LI X R, BAR-SHALON Y.Multiple-model estimation with variable structure[J].IEEE Transactions on Automatic Control, 1996, 41(4):478-493. doi: 10.1109/9.489270
[16]	肖松, 李智淮, 谭贤四, 等.临近空间高超声速飞行器DG-VSMM跟踪算法[J].弹道学报, 2013, 25(2):22-27. doi: 10.3969/j.issn.1004-499X.2013.02.005 XIAO S, LI Z H, TAN X S, et al.DG-VSMM tracking algorithm for near-space hypersonic vehicle[J].Journal of Ballistics, 2013, 25(2):22-27(in Chinese). doi: 10.3969/j.issn.1004-499X.2013.02.005
[17]	JILKOV V P, ANGELOVA D S, SEMERDJIEV T Z A.Design and comparison of mode-set adaptive IMM algorithms for maneuvering target tracking[J].IEEE Transactions on Aerospace and Electronic Systems, 1999, 35(1):343-350. doi: 10.1109/7.745704
[18]	秦雷, 李君龙, 周荻.基于AGIMM的临近空间机动目标跟踪滤波算法[J].系统工程与电子技术, 2015, 37(5):1009-1014. http://d.old.wanfangdata.com.cn/Periodical/xtgcydzjs201505005 QIN L, LI J L, ZHOU D.Tracking filter algorithm for near space target based on AGIMM[J].Systerms Engineering and Electronics, 2015, 37(5):1009-1014(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/xtgcydzjs201505005
[19]	田野, 蒋宏, 梁国威, 等.基于角速度修正的变结构多模型目标跟踪算法[J].电光与控制, 2012, 19(1):46-53. doi: 10.3969/j.issn.1671-637X.2012.01.012 TIAN Y, JIANG H, LIANG G W, et al.Turn rate amended VSMM algorithm for target tracking[J].Electronic Optics & Control, 2012, 19(1):46-53(in Chinese). doi: 10.3969/j.issn.1671-637X.2012.01.012
[20]	LI X R, JILKOV V P.Survey of maneuvering target tracking.Part Ⅰ:Dynamic models[J].IEEE Transactions on Aerospace and Electronic Systems, 2003, 39(4):1345-1353. doi: 10.1109-TAES.2010.5417150/
[21]	SINGER R A.Estimating optimal tracking filter performance for manned maneuvering targets[J].IEEE Transactions on Aerospace and Electronic Systems, 1970, 6(4):473-483. doi: 10.1109-TAES.1970.310128/
[22]	WANG Y L, TANG W, ZHANG Y, et al.Geometry parameterization and aerodynamic analysis of a common aero vehicle[J].Acta Aerodynamica Sinica, 2007, 25(30):368-371. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=kqdlxxb200703016
[23]	PATTERSON M A, RAO A V.GPOPS-Ⅱ:A MATLAB software for solving multiple-phase optimal control problems using HP-adaptive Gaussian quadrature collocation methods and sparse nonlinear programming[J].ACM Transactions on Mathematical Software, 2014, 41(1):1-37. http://d.old.wanfangdata.com.cn/Conference/6762851
[24]	李君龙, 周荻.基于交互式多模型算法跟踪临近空间目标[J].系统工程与电子技术, 2014, 36(7):1243-1249. http://d.old.wanfangdata.com.cn/Periodical/xtgcydzjs201407004 LI J L, ZHOU D.Tracking for near space target based on IMM algorithm[J].Systems Engineering and Electronics, 2014, 36(7):1234-1249(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/xtgcydzjs201407004
[25]	聂晓华, 张夫鸣, 徐一鸣.NSHV机动目标跟踪的自适应模型算法[J].系统工程与电子技术, 2016, 38(3):506-511. http://d.old.wanfangdata.com.cn/Periodical/xtgcydzjs201603005 NIE X H, ZHANG F M, XU Y M.Adaptive model algorithm for maneuvering target tracking of NSHV[J].Systems Engineering and Electronics, 2016, 38(3):506-511(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/xtgcydzjs201603005