ردیابی غیرفعال هدف مانور بالا با استفاده از مشاهدات سمت به روش فیلتر برهم‌کنشی چندمدلی کالمن حجم مکعبی

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشجوی دکتری ، دانشگاه صنعتی مالک اشتر، تهران، ایران

2 دانشیار ، دانشگاه صنعتی مالک اشتر، تهران، ایران

3 استادیار ، دانشگاه صنعتی مالک اشتر، تهران، ایران

چکیده

ردیابی تنها با مشاهدات سمت (BOT)، احتمال شناسایی شدن توسط طرف مقابل را به دلیل غیر‌فعال بودن مشاهدات به حداقل می‌رساند. ردیابی اهداف متحرک در زیر آب، توسط زیردریایی، مستلزم استفاده زنجیره‌ای از مشاهده غیرفعال زاویه هدف در طول زمان می‌باشد. در این حالت، بهبود تخمین موقعیت هدف در گرو مانور مناسب زیردریایی برای افزایش مشاهده‌پذیری است. همچنین، از آنجایی‌که حرکت هدف می‌تواند دارای مدل‌های متفاوتی باشد، بایستی از فیلتر‌های چندگانه برهم‌کنشی (IMM) برای بهبود دقت ردیابی اهداف مانوردار استفاده کرد. از سوی دیگر، به علت غیرخطی بودن معادلات اندازه‌گیری و معادلات حرکت هدف، بهتر است از فیلتر کالمن حجم مکعبی (CKF) برای بهبود دقت ردیابی استفاده کرد. در این مقاله از فیلتر IMM-CKF برای ردیابی هدف مانور بالا که در مقاطع مختلف حرکت خود از دینامیک‌های مختلف استفاده می‌کند، در شرایطی که در هر لحظه تنها یک مشاهده سمت از آن وجود دارد، استفاده می‌شود. نتایج شبیه‌سازی روش پیشنهادی و مقایسه آن با فیلترهای برهم‌کنشی چندمدلی کالمن توسعه‌یافته و خنثی و همچنین فیلتر نوین کالمن شبه‌ خطی (PLKF) نشان می‌دهد که در قسمت‌هایی از حرکت که دارای مانور‌های شدیدی است، IMM-CKF عملکرد مناسب‌تری نسبت به سایر روش‌ها دارد.

کلیدواژه‌ها

عنوان مقاله [English]

Interacting Multiple Model Cubature Kalman Filter for Highly Maneuverable Target Tracking Using BOT

نویسندگان [English]

  • Mohsen Ebrahimi 1
  • Seyyed M. Mehdi Dehghan 2
  • Firouz Allahverdizade 3
1 PhD student, Malek Ashtar University of Technology, Tehran, Iran
2 Associate Professor, Malek Ashtar University of Technology, Tehran, Iran
3 Assistant Professor, Malik Ashtar University of Technology, Tehran, Iran
چکیده [English]

The BOT method, minimizes the possibility of detection by the other party due to its inactivity. Tracking of moving underwater targets, by submarines, requires the use of a chain of passive target observation over time. In this case, the improvement of the target estimation depends on the proper maneuver of the submarine to increase the observability. Also since the moving target can have different models, Interactive Multiple Model (IMM) should be used to improve the tracking accuracy of maneuvering targets. On the other hand, due to the non-linearity of the measurement equations and the target motion equations, it is better to use the Cubature Kalman Filter (CKF) to improve the tracking accuracy. In this article, the IMM-CKF filter is used to track the highly maneuverable target in a situation where there is only one observation of it at any moment. The simulation results of the proposed method and its comparison with the extended and unscented multi-model Kalman interaction filters as well as the new pseudo-linear Kalman filter (PLKF) show that the performance of IMM-CKF is suitable in parts of the movement that have intense maneuvers. It is better than other methods

کلیدواژه‌ها [English]

  • Cubature Kalman filter
  • interacting multiple model
  • Bearing Only Tracking
  • target tracking

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رادار
دوره 11، شماره 1
شماره پیاپی 29، فصلنامه بهار و تابستان
شهریور 1402
صفحه 67-80

فایل ها

سابقه مقاله

  • تاریخ دریافت: 21 اردیبهشت 1402
  • تاریخ بازنگری: 25 تیر 1402
  • تاریخ پذیرش: 11 مرداد 1402
  • تاریخ انتشار: 02 شهریور 1402

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