红外与激光主/被动联合跟踪算法

针对单站红外被动式跟踪存在不可观测性问题，提出红外与激光主／被动单目标联合跟踪方法。该方法首先针对三维空间任意机动目标的跟踪问题，将参考文献1]给出的一维机动目标“当前”统计模型推广到三维情况，得到三维情况下跟踪任意机动目标的状态方程和跟踪系统的非线性量测方程。然后对红外探测器测量的角度信息和激光测得的距离信息进行融合，得到正确的测量值。最后提出扩展的自适应卡尔曼滤波算法并进行了仿真研究。仿真表明；方案可行，可同时对目标三个空间坐标轴的位置、速度、加速度进行估计。

Active-passive joint tracking with infrared and laser sensors

In order to avoid the unobservable problem of passive tracking for single infrared search and track sensor, an active\|passive joint tracking algorithm for a maneuvering target with IRST and Laser Ranger is developed. The current statistical model for tracking a maneuvering target is extended from 1D to 3D according to reference\{\\}. The state and nonlinear measurement equations for an arbitrary maneuvering target in 3D are educed. The angle measurements from IRST and the range measurements from LR are aligned in time. The correct measurement value is given. An extended adaptive Kalman filtering algorithm is used to simultaneously estimate the position, velocity and acceleration of a maneuvering target in 3D space. The results of simulation show that the presented algorithm is feasible and satisfactory.