一种具有角速度量测的多站无源目标跟踪方法

为提高多站无源目标跟踪系统的跟踪性能，将无源目标跟踪系统获取的目标角速度测量表示为目标在笛卡尔坐标系下位置与速度的非线性形式，进而提出了一种同时利用目标角度和角速度量测来提高被动跟踪精度的方法。结合Cramer-Rao下界理论，分析了在利用角速度量测信息后无源目标跟踪系统跟踪性能的改善情况。基于不敏卡尔曼非线性状态估计方法，给出了具有角速度多站无源跟踪方法的一种具体实现流程。仿真与试验结果表明，具有角速度量测的无源跟踪系统具有更优目标运动参数的估计精度。

Passive Target Tracking of Multi-observation Stations with Angular Velocity Measurement

A tracking method with velocity measurement is proposed to improve the performance of passive target tracking of multi-observation stations. The angular velocity measurements are presented in the nonlinear forms of target's position and velocity in Cartesian coordinate. The tracking performance of passive target tracking system after using angular velocity measurement is analyzed with Cramer-Rao lower bound.An implement process of passive target tacking is presented based on unscented Kalman filtering method. Simulated and experimental results show that the passive target tracking system with angular velocity measurement improves the estimation accuracy of target motion parameters.