卡爾曼濾波器於射控系統之應用

Applications of the Kalman Filter for the Fire-Control Systems

楊家宏(Yang, Jia-Horng) ； 王柏堯(Wang, Po-Yao) ； 陳威誠(Chen, Wei-Cheng)

《中正嶺學報》 43卷2期 (2014/11) Pp. 173-186

摘要

為達到有效快速反制的目標，本研究應用偵蒐裝備所提供的原始量測資訊，以其軌跡偏差值形成估測權數矩陣，並重新建立一較精確的估測初始值來輔助追蹤，以改善估測初始期間的大幅誤差；而應用卡爾曼濾波器進行估測時，亦根據不同估測環境干擾及目標物運動模式，適當調整系統誤差協方差矩陣之q^2值，以提高追蹤精準度，減少軌跡估測的收斂時間；在本研究中，針對不同系統雜訊其對各類卡爾曼濾波器造成的影響進行論述，並對目標物不同運動模式進行分析後，提出精進估測參數設定的相關建議，期能減少估測誤差，協助我方達到精準打擊目標的任務。

關鍵字

目標追蹤 ； 初始值建立 ； 卡爾曼濾波器

並列摘要

In order to achieve the goal of effective and rapid counterattack, we analyzed the originally noisy data provided from the reconnaissance equipment and formed the estimated weighted matrix based on the trajectory deviation of the measured data to re-establish an more accurate initial value of target state. This initial value helped improve the obviously initial estimation error. Besides, we adjusted the value to accommodate to the environmental noise and various motion modes of the targets to improve the tracking error and convergence time when executing Kalman filter to estimate the target trajectory. q^2 Furthermore, we discussed the impacts of various system errors to the different Kalman filter and analyzed different motion modes of the targets. We proposed setting estimated parameters in order to efficaciously ameliorate the estimation accuracy of target tracking and achieve the goal of the rapid counterattack.

並列關鍵字

target tracking ； initial value establishing ； Kalman Filter