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针对纯方位系统单机动平台在不具有比机动目标更高一级的机动运动时,无法满足系统可观测性的问题,提出了一种适用于多平台的无源定位算法。该算法根据目标与平台之间的几何关系得到一个包含目标初始位置和分量速度的伪线性方程组。为减少求解方程组的计算量,保证定位的实时性,对常规的最小二乘法进行了加滑窗处理。通过对观测向量和系数矩阵的分析,证明了算法对目标状态的估计具有无偏性。仿真实验验证了算法的有效性,并讨论分析了平台运动的速度和方向等因素对算法定位性能的影响,得到了保证算法定位性能的平台与目标相对运动关系。
Aiming at the problem that the single locomotion platform with pure azimuth system can not meet the observability of the system when it does not have a higher level of motive motion than the maneuvering target, a passive locating algorithm suitable for multi-platform is proposed. According to the geometric relationship between the target and the platform, the algorithm obtains a pseudo-linear system of equations that contains the initial position of the target and the component velocity. In order to reduce the computational complexity of solving equations and ensure the real-time performance of positioning, the conventional least square method is added with sliding window processing. Through the analysis of observation vector and coefficient matrix, it is proved that the algorithm has unbiased estimation of the target state. Simulation results show the effectiveness of the algorithm. The influence of the speed and direction of platform motion on the positioning performance of the algorithm is discussed. The relationship between the platform and the target relative motion is obtained.