微波交会对接雷达目标跟踪的卡尔曼滤波器设计

针对空间交会对接应用中追踪航天器对目标航天器的精密跟踪，采用三阶修正卡尔曼滤波器直接在球坐标系下对径向距离和径向速度进行联合跟踪，采用2个结构一致的二阶修正卡尔曼滤波器分别对俯仰角和俯仰角速度、方位角和方位角速度进行联合跟踪。提出一种状态噪声的实时估计算法，有效地解决了卡尔曼滤波应用中状态噪声的参数设计问题。仿真结果表明，本文设计的卡尔曼滤波器能够精确地跟踪目标航天器，同时具有较强的动态适应能力。

Kalman Filter Design for Target Tracking in Microwave Rendezvous and Docking Radar

For tracking target aerocraft in microwave rendezvous and docking radar, radial distance and velocity in spherical coordinate system were tracked jointly by a 3rd order improved Kalman filter elevation and elevation rate, azimuth and azimuth rate were tracked by two identical 2nd order improved Kalman filters respectively. The paramter design of state noise in the application of Kalman filtering to the tracking was solved effectively by a proposed real-time estimating algorithm. The simulated results show that the proposed Kalman filter can accurately track target aerocraft, and has strong adaptation to target's dynamic.