基于扩展Kalman滤波器的球面交会定位系统

研究了在球面交会模型下，基于单个运动观测平台，通过扩展卡尔曼滤波算法对静止目标进行定位的问题。首先在空间大地坐标系中建立状态方程和测量方程，然后利用运动观测平台在各个侦察时刻的位置信息和目标来波方向信息，在球面交会模型下，代入扩展卡尔曼滤波算法进行定位。仿真结果表明，该方法具有定位精度高、算法稳定等优点，是一种好的滤波算法。最后介绍了滤波初始值选择方法和测量数据野值剔除算法。

The System of Finding and Location Based on Extended Kalman Filtering in Spherical Reference Frame

The problems of finding and location for a fixed emitter by EKF based on single moving station in spherical reference frame are studied in this paper. Firstly, status equation and observation equation are designed in geodetic coordinate system. Secondly, EKF is used in finding and location for a fixed emitter by observing station coordinates and bearings of the emitter in spherical ref- erence frame. The algorithm is proved high in location precision and steady in performance by computer simulation. Finally, a method of initialization and an algorithm of outlier elimination are introduced.