机动目标建模技术概述

X(116018),,,SummarizationofModelingTechniquesforManeuveringTargetXUJiang-huZHANGYong-shengJICheng-xin(DalianNavalAcademyDalian116018)AbstractThecurrentmainmaneuveringtargetmodelissummarizedandanalysedinthispaper.Thebasicideasandassumptionsofthemodelingtechniquesarediscussedemphatically.Interrelationshipsamongthemodelsarealsoanalysed.Keywordsmaneuveringtarget,modeling,targettracking1,,2,,,,xk+1=fk(xk,uk,wk)(1)zk=hk(xk)+vk(2),xk,zkuktk;wkvk;fkhk,xa(t)=f(x(t),u(t),w(t),t),x(t0)=x0(3)z(t)=h(x(t),t)+v(t)(4)xk=x(tk),zk=z(tk),vk=v(tk),uk=u(tk),hk(xk)=h(x(tk),tk)wkw(tk),fk(xk,uk,wk)f(x(tk),u(tk),w(tk),tk),xa(t)=f(x(t),u(t),t)+w(t),x(t0)=x0(5)zk=hk(xk)+vk(6),,,3,u,uu,::(CV),(CA):200295X:20010713:20010912:,,,x,xaxb,,,x=,,xb(t)=a(t)(7)a(t)3.1,xb(t)()3.2,,()(),Xk+1=F3Xk+G3wk,G3=T2ö2T1F3=1TT2ö201T001(8)Q=cov(G3wk)=var(wk)T4ö4T3ö2T2ö2T3ö2T2ö2TT2ö2T1(9)3.3,nX(t)=x(t)y(t)z(t)=a0a1anb0b1bnc0c1cn1ttn+wx(t)wy(t)wz(t)(10):(x,y,z),(wx,wy,wz)nnCVCAw(t)n(n=1,2)n(n+1),n+1n(n+1);,,,,,ai,bi,ci,,w(t)3.4,,,(),,,,,a(t),Ra(S)=Ea(t+S)a(t)=R2e-AûSûa(t)Aak+1=BAk+wak(11)w(t)Sw=2AR2Ak+1=BAk+wak(12)B=e-AT,wakR2(1-B2)115:Xa(t)=01000100-AX(t)+001w(t)(13),Xk+1=FAXk+wk=1T(AT-1+e-ATöA201(1-e-AT)öA00-ATXk+wk(14)AR2A=1öSmSm,Sm:Sm60,Sm10-20R2,:,P0;Amax,PmaxR2=A2max3(1+4Pmax-P0):Pmax,P0Amax(13)(14):A=0,;A,A,CACV,A,T,Pmax,P0Amax,,,,;,3.5,,:a(t)=az(t)+al(t),,az(t)((11)),al(t),aa(t)=-Aa(t)+Aal(t)+w(t)(15)akad(t)(,kzk),alk+1,Xa(t)=01000100-AX(t)+00Aal(t)+001w(t)(16),Xk+1=FAXk+T2ö2T1-(AT-1+e-AT)öA2(1-e-AT)öAe-ATõalk+wk(17)Fa(14)al(t)alkw(t)wkalk+1=adk,alk+1Eakûzkadkzktk,p(ak+1ûadk)k+1ak+1,ak+1,P(aûadk)=C-2k(amax-a)exp-(amax-a)2ö(2C2k)adk0C-2k(a-a-max)exp-(a-a-max)2ö(2C2k)adk0,a-max,-amax;Ckadk,R2kE(ak+1-alk+12ûadk=4-PP(amax-adk)2adk04-PP(a-max+adk)2adk0Eak+1ûzk=Eak+1ûadk,ak+1,adkzk,3.62124,,Ra(S)=R2e-AûSûcos(XS)(18):X,R2Aaaab=01-(A2+X2)-2AAaa+00A2+X21w(t)wa(t)(19)w(t),2AR2X=,,,,Xa(t)=01000011000100-(A2+X2)-2AX(t)+000000A2+X21w(t)wa(t)(20)3.7,axyaxay:a=ax,ayV,5(t),X=5a5X,,ax(t)ay(t),,,,X5X=5aax(t),ay(t)ax=xb=-Xya=-XVsin55(t+S)=5(t)+XSax(t)Rax(t+S,t)=12V2E{X2cos(XS)(1-cos25(t))+sin(XS)sin25(t)}e-AûSû(21)a(t),ax(t),Rax(t+S,t)(tS),(),,ax(t),Rax(t+S,t)=Rax(S)55-P,Pax(t),,XJPHelferty-Xmax,Xmax,-P,P,,JPHelfertynax(t)n,ax(t)S(S)=H(S)H(-S)H(S)=B1S+B2S2+A1S+A2(22),Ax(t)=B2,B1Ax,AaxAaxAbx=01-A2-A1AxAax+01w(t)(23)w(t)X=,,,,Xa(t)=010000B1B2000100-A2-A1X(t)+0001w(t)(24)3.8:()(),(,),JDKendrickan(t)2b(t)315:an(t)=A+BeC0(t)(25)A,B,C,;b(t)ba(t)=1Sb(t)+w(t)Sb(t)A,B,C6A,B,C,,,3.9,(),,(),Moose,nal1,,aln,(u(tk)P{u(tk)=aljûu(tk-1)=ali}(i,j=1,,n),Pij(S)=P(SijS),Sij=tk-tk-1alj,alj,a(t)a(t)=-Bv(t)+u(t)+az(t)(26)az(t)(11),v,Bx=,,,Xa(t)=0100-B100-AX(t)+010u(t)+001w(t)(27),ud(t)=2ni=1aliP{u(t)=aliûz(s),st},,,,3.10,,,,,,,,,,,KMehrotra,(,,,),,3.11,,,az(t)az(t)=-Aaz(t)+w(t),,az(0)=0Bergaa(t)=-Aa(t)+w(t)+aa-(28)aa-(15)(25),aa-=Aal(t)(al(t)),,4124aa-al,Berg,aa-w4,,,,,,,,1,,..:,19912,,..:,19973YBar2Shalom,XRLi.EstimationandTracking:Principles,TechniquesandSoftware.ArtechHouse,Boston,MA,19934RASinger,KWBenhke.Real2TimeTrackingFil2terEvaluationandSelectionforTacticalApplica2tion.IEEETrans.AerospaceandElectronicSys2tems,AES27:100110,Jan.19915HZhou,KSPKumar.ACurrentStatisticalModelandAdaptiveAlgorithmforEstimatingMa2neuveringTarget.AIAAJournalofGuidance,1984,7(5):5966026JDKendrick,PSMaybeckandJGReid.Estima2tionofAircraftTargetMotionUsingOrientationMeasurements.IEEETrans.AerospaceandElec2tronicSystems,1981(17):2542607RAHoward.SystemAnalysisofSemi2MarkovPro2cesses.IEEETrans.MilitaryElectronics,1964,MIL28:1141248RLMooseandPLWang.AnAdaptiveEstimatorwithLearningforaPlantContainingSemi2MarkovSwitchingParameters.IEEETrans.Systems,Man,Cybernetice,SMC23:277281,May,19739RLMoose.AnAdaptiveStateEstimatorSolutiontotheManeuveringTargetProblem.IEEETrans.Trans.AutomaticControl,1975,AC220(3):35936210KMehrotra,PRMahapatra.AJerkModeltoTrackingHighlyManeuveringTarget.IEEETrans.AerospaceandElectronicSystems,1997,AES233(4):1094110511RFBerg.EstimationandPredictionforManeuver2ingTargetTrajectories.IEEETrans.AutomaticControl,AC228:294304,Mar.198312JPHelferty.ImprovedTrackingofManeuveringTarget:TheUaeofTurn2RateDistriburionsforAccelerationModeling.IEEETrans.AerospaceandElectronicSystem,1996,AES232(4):135513611975,1972,1994,1955,,:1600,8ANöTPS259Mö34(USMC),1991,ANöTPS259Mö34,ANöTPS259Mö34,USMCANöTPS259,Mö34370km,30.5km,Mö34ANöTPS259S-280,Mö34Mö345.8m4.6m,,(,)515: