Tracking and Locating Algorithm of 3-Dimensional Moving Targets Using 2-Dimensional Angular Measurements from Multiple Passive Sensors

刘哲 1; 3; 卫军胡 1; 2; 赵军 3; 姚东升 3; 孙国基 1; 2

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Tracking and Locating Algorithm of 3-Dimensional Moving Targets Using 2-Dimensional Angular Measurements from Multiple Passive Sensors

更新时间：2025-12-08

- Tracking and Locating Algorithm of 3-Dimensional Moving Targets Using 2-Dimensional Angular Measurements from Multiple Passive Sensors
- Vol. 42, Issue 4, Pages: 462-465+470(2008)
- 作者机构：
  
  1. 西安交通大学系统工程研究所,西安,710049
  2. 西安交通大学机械制造系统工程国家重点实验室,西安,710049
  3. 乌鲁木齐21信箱187分箱,乌鲁木齐,841700
- 作者简介：
- 基金信息：
- DOI：
  CLC： TN593
- Online First：10 April 2008，
  
  Published：2008
- 稿件说明：
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刘哲 1, 3, 卫军胡 1, et al. Tracking and Locating Algorithm of 3-Dimensional Moving Targets Using 2-Dimensional Angular Measurements from Multiple Passive Sensors[J]. 2008, 42(4): 462-465+470.
DOI：

刘哲 1, 3, 卫军胡 1, et al. Tracking and Locating Algorithm of 3-Dimensional Moving Targets Using 2-Dimensional Angular Measurements from Multiple Passive Sensors[J]. 2008, 42(4): 462-465+470. DOI：

摘要

针对纯角度非线性估计法对量测方程进行线性化处理后的运动要素估计出现发散或偏置现象等问题

提出了基于多源二维测角信息的三维动态目标跟踪定位算法.利用最大似然估计法对多基站提供的角度量测信息进行融合处理

由此获得的量测方程经伪线性化后的均方等效误差期望值最小

从而实现了目标运动要素无偏估计.通过仿真表明

利用所提算法获得的位置跟踪误差曲线能快速、准确地逼近Cramer-Rao下界

比扩展的卡尔曼滤波器的收敛速度快

精度高

跟踪精度可提高50%.

Abstract

The target motion analysis(TMA)is a nonlinear estimation problem because of the nonlinearity of its measure equation

and the pseudo linear equation derived from the measure equation will result in biased or divergent solutions. The authors present an efficient and nearly unbiased algorithm for biostatic bearings-only target locating based on measured angles. The simulation results show that compared with the extended Kalman filter

the error curve of the root mean square of the position estimated by the proposed algorithm approaches the Cramer-Rao low bound(CRLB)more efficiently for Gaussian noise

and the precision is approximately improved by 50%.

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references

YANG Guosheng, DOU Lihua, CHEN Jie, et al. Synergy decision in the multi-target tracking based on IRST and intermittent-working radar [J]. Information Fusion, 2001,30(5):243-250.

DUFOUR F, MATRA M. Tracking a 3D maneuvering target with passive sensors [J]. IEEE Trans on Aerospace and Electronic Systems, 2004, 27(4):725-739.

FARINA A. Target tracking with bearings-only measurements [J]. Signal Processing, 1999, 78(1): 61-78.

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XIU Jianjuan, HE You, WANG Guohong. Study on multitarget tracking algorithm in two direction-finding location systems [J]. Acta Electronica Sinica, 2002,30(12):1763-1767.

REN Qiang, ZHANG Chaoyang. Algorithm and simulation of 3D passive location with two infrared moving sensors [J]. Journal of System Simulation, 2006, 18(17):2746-2748.

XU Benlian, DONG Xueping, WANG Zhiquan. An efficient and nearly unbiased algorithm for bearings-only target localization using bistatic sonar [J]. Journal of System Simulation, 2005,17(3):552-555.

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