Incomplete Measurement Location And Tracking Algorithm Under Three-dimensional Targets

Targeting and tracking is an important part of reconnaissance and air defense systems, a secret action planning and a sudden blow to the objectives with efficient, reliable, and accurate targeting as well as real-time estimation of the target states is an inevitable trend of development of reconnaissance and air defense systems in future. As the observing sensors are easily influenced by external environmental factors, as well as the constraints of detecting ability and related tactics taken actively, the data of target measured by observatories may exist the phenomenon of incomplete measurement. With the constraints of incomplete measurement, how to integrate measurement information from a single (multiple) station do have important practical significance for achieving accurate positioning and high-precision real-time tracking of target in three-dimensional space as well as improve battlefield survivability of reconnaissance and air defense systems.In this paper the work and innovations to solve the above issues are as follows:(1) In the condition of incomplete measurement,6categories (total of9kinds) double observation stations targeting model were established according to the missing measurement information, at the same time analytical expressions were given to calculate the target positioning parameters and analysis of targeting accuracy were also made. Targeting model of double observation stations was divided into6categories according to spatial positioning geometric principles as well as the specific circumstances of the missing measurement information firstly. Then corresponding positioning model and solving method were achieved with the idea of double observation stations cooperative location and analysis of positioning accuracy was also made according to error transfer theory. At last, simulation analysis was made to each case and the location accuracy CEP curve was given respectively.(2) The target tracking algorithm of still double observation stations and its evaluation criteria was proposed on the basis of research on targeting in the condition of incomplete measurement in three-dimensional space. Firstly, the formula of measurement noise covariance in9kinds of situations was derived on the basis of the idea of double observation stations cooperative location. Secondly, the target tracking algorithm of still double observation stations with incomplete measurement was proposed with Kalman filtering principle. Finally, a Monte Carlo simulation was carried out for each case and target tracking error curves in cartesian coordinates and spherical coordinates were given respectively. Simulation results showed that arget tracking error curve gradually converged close to the ideal CRLB and the tracking accuracy was pretty good.(3) The target tracking algorithm of motive double observation stations(one still station,one motive station) was developed from the one of still double observation stations. Firstly, according to the filter value of the target state in current time, the prediction of targeting CEP in next time could be calculated and the movement direction of observation station in next time could also be achieved by the prediction of CEP gradient. Secondly, the position of the station in next time could be determined by the velocity and direction of the motive station, the recursive algorithm of target tracking for double observation stations could be derived as well. Finally, Monte Carlo simulations were made for the two situations where the distance information and azimuth information of two stations missed, the target tracking error curve could also be achieved. The results showed that the target tracking error of double motive observation stations was smaller and closer to the ideal CRLB when being compared with the tracking error curve of double still observation stations and the ideal CRLB curve in the same simulation conditions.