| 多约束光学雷达轨迹规划技术 |
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| 引用本文： | 孟中杰,陈凯,黄攀峰,闫杰. 多约束光学雷达轨迹规划技术[J]. 兵工学报, 2010, 31(12): 1643-1647 |
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| 作者姓名： | 孟中杰 陈凯 黄攀峰 闫杰 |
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| 作者单位： | 西北工业大学,智能机器人研究中心,陕西,西安,710072;西北工业大学,智能机器人研究中心,陕西,西安,710072;西北工业大学,智能机器人研究中心,陕西,西安,710072;西北工业大学,智能机器人研究中心,陕西,西安,710072 |
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| 基金项目： | 航天支撑基金(2010-HT-XGD) |
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| 摘 要： | 为进一步提高光学雷达的跟踪能力,需要研究其轨迹规划技术。充分考虑各种强约束条件,建立了轨迹规划模型。设计了一种P阵与FISHER信息量相结合的目标函数,采用伪线性卡尔曼滤波进行轨迹规划。仿真结果表明,沿规划的航迹飞行,不但能够满足光学雷达被动跟踪的各种约束条件,而且跟踪速度快,估计精度高。这也验证了轨迹规划技术的有效性,为实战中光学雷达的合理应用奠定基础。
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| 关 键 词： | 光学雷达 轨迹规划 多约束 被动跟踪 伪线性卡尔曼滤波 |
Trajectory Planning for Optical Radar of Multi-constraints |
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| MENG Zhong-jie,CHEN Kai,HUANG Pan-feng,YAN Jie. Trajectory Planning for Optical Radar of Multi-constraints[J]. Acta Armamentarii, 2010, 31(12): 1643-1647 |
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| Authors: | MENG Zhong-jie CHEN Kai HUANG Pan-feng YAN Jie |
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| Affiliation: | (Research Center for Intelligent Robotics, College of Astronautics, Northwestern Polytechnical University,Xi'an 710072, Shaanxi, China) |
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| Abstract: | To enhance the tracing capability of optical radar, trajectory planning technology needs to be studied. Considering all strong constraints, the model for trajectory planning is constituted; the objective function is designed with tr(P) and det(FIM) and the trajectory is planned with PLKF. Simulation shows that along the planned trajectory, all the constraint conditions of optical radar passive tracking can be met and the optical radar has a high precision and speed. It also verifies the validity of trajecto... |
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| Keywords: | radar engineering optical radar trajectory planning multi-constraints passive tracking PLKF |
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