现代防御技术 ›› 2024, Vol. 52 ›› Issue (2): 132-144.DOI: 10.3969/j.issn.1009-086x.2024.02.015
收稿日期:
2023-12-26
修回日期:
2024-03-08
出版日期:
2024-04-28
发布日期:
2024-04-29
作者简介:
臧红岩(1997-),男,黑龙江五常人。博士生,研究方向为飞行器轨迹跟踪与预报。 E-mail:gaocs@ hit.edu.cn
基金资助:
Hongyan ZANG(), Kai WANG, Changsheng GAO, Wuxing JING, Yuexin WANG
Received:
2023-12-26
Revised:
2024-03-08
Online:
2024-04-28
Published:
2024-04-29
摘要:
针对高超声速飞行器高精度轨迹跟踪问题,提出一种将滚动时域估计与交互式多模型算法相结合的强机动目标轨迹跟踪算法。给出了半速度系下的高超声速飞行器滑翔段运动模型及量测模型。利用滚动时域估计方法将状态估计问题转化为有约束的优化问题,并充分考虑飞行器滑翔段物理约束。在此基础上,为应对目标不同机动模式,借助交互式多模型算法思想建立模型集对其进行近似。分别在机动模式不变和机动模式突变的情况下对算法进行了验证。结果表明,新算法采用多个模型并行估计,即时调整模型概率后进行融合输出,能够有效避免目标跟踪模型失配,可显著提高对于高超声速飞行器这类强机动目标的轨迹跟踪精度。
中图分类号:
臧红岩, 王凯, 高长生, 荆武兴, 王越欣. 基于滚动时域估计的高超声速飞行器轨迹跟踪[J]. 现代防御技术, 2024, 52(2): 132-144.
Hongyan ZANG, Kai WANG, Changsheng GAO, Wuxing JING, Yuexin WANG. Trajectory Tracking of Hypersonic Vehicles Based on Moving Horizon Estimation[J]. Modern Defense Technology, 2024, 52(2): 132-144.
参数 | 取值 | 参数 | 取值 |
---|---|---|---|
50 | 0.51 | ||
140°E | 0 | ||
15°N | 6 |
表1 目标飞行器初始状态
Table 1 Initial state of target flight vehicle
参数 | 取值 | 参数 | 取值 |
---|---|---|---|
50 | 0.51 | ||
140°E | 0 | ||
15°N | 6 |
参数 | 取值 | 参数 | 取值 |
---|---|---|---|
[-80,60] | 8 | ||
8×105 | |||
120 |
表2 约束参数
Table 2 Constraint parameters
参数 | 取值 | 参数 | 取值 |
---|---|---|---|
[-80,60] | 8 | ||
8×105 | |||
120 |
跟踪误差 | 几何定位 | MHE-IMM | 单模型 | |
---|---|---|---|---|
位置误差/m | 247.812 4 | 47.581 3 | 52.910 7 | |
120.377 8 | 18.166 1 | 18.249 8 | ||
101.023 5 | 36.583 1 | 35.142 0 | ||
293.440 9 | 62.708 1 | 66.087 4 | ||
速度误差/ (m·s-1) | 36.783 3 | 39.783 3 | ||
38.910 8 | 39.910 8 | |||
43.415 0 | 46.415 0 | |||
68.934 1 | 73.006 4 |
表3 跟踪误差统计结果
Table 3 Statistics results of tracking error
跟踪误差 | 几何定位 | MHE-IMM | 单模型 | |
---|---|---|---|---|
位置误差/m | 247.812 4 | 47.581 3 | 52.910 7 | |
120.377 8 | 18.166 1 | 18.249 8 | ||
101.023 5 | 36.583 1 | 35.142 0 | ||
293.440 9 | 62.708 1 | 66.087 4 | ||
速度误差/ (m·s-1) | 36.783 3 | 39.783 3 | ||
38.910 8 | 39.910 8 | |||
43.415 0 | 46.415 0 | |||
68.934 1 | 73.006 4 |
跟踪误差 | 几何定位 | MHE-IMM | 单模型 | |
---|---|---|---|---|
位置误差/m | 335.568 7 | 62.564 5 | 110.679 0 | |
108.956 7 | 28.963 5 | 65.712 1 | ||
175.865 0 | 45.214 0 | 88.113 3 | ||
394.216 2 | 82.446 9 | 155.986 8 | ||
速度误差/ (m·s-1) | 49.489 5 | 81.007 5 | ||
49.635 4 | 69.058 5 | |||
36.787 7 | 52.482 2 | |||
79.159 4 | 118.683 1 |
表4 跟踪误差统计结果
Table 4 Statistics results of tracking error
跟踪误差 | 几何定位 | MHE-IMM | 单模型 | |
---|---|---|---|---|
位置误差/m | 335.568 7 | 62.564 5 | 110.679 0 | |
108.956 7 | 28.963 5 | 65.712 1 | ||
175.865 0 | 45.214 0 | 88.113 3 | ||
394.216 2 | 82.446 9 | 155.986 8 | ||
速度误差/ (m·s-1) | 49.489 5 | 81.007 5 | ||
49.635 4 | 69.058 5 | |||
36.787 7 | 52.482 2 | |||
79.159 4 | 118.683 1 |
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