基于粒子群优化的卡尔曼滤波去耦算法
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摘要
针对相控阵雷达导引头由于前向通道增益和波束控制增益刻度尺度不同引起的扩展卡尔曼滤波(extended Kalman filter,EKF)去耦中误差量过大的问题,提出了基于粒子群优化的EKF去耦算法。采用了最小均方差为适应度函数,对两个增益参数进行组合优化,然后通过建立EKF的系统模型,推导了提取的视线角速率与增益参数之间的关系,使得滤波后的估计值为最优的后验估计。最后,通过仿真表明该算法可以很好地解决误差量过大的问题,并验证了所提算法在相控阵雷达导引头去耦和视线角速率提取中的有效性。
To solve the problem of large amounts of error in the extended Kalman filtering(EKF)decoupling algorithm caused by phased array radar seeker different control gain calibration scale of forward channel gain and beam control gain,an EKF decoupling algorithm based on the particle swarm optimization algorithm is proposed,which uses minimum mean square error as the fitness function.Two gain parameters are in optimum combination.Then through the establishment of the system model of EKF,the relationship between the line of sight rate and the gain parameters is deduced,so that the estimation after filtering is optimal posteriori estimation.Finally,the simulation result shows that the proposed algorithm is a good way to solve the problem of large amounts of error,and the algorithmic validity of decoupling and line of sight rate extraction in the phased array radar seeker is proved.
To solve the problem of large amounts of error in the extended Kalman filtering(EKF)decoupling algorithm caused by phased array radar seeker different control gain calibration scale of forward channel gain and beam control gain,an EKF decoupling algorithm based on the particle swarm optimization algorithm is proposed,which uses minimum mean square error as the fitness function.Two gain parameters are in optimum combination.Then through the establishment of the system model of EKF,the relationship between the line of sight rate and the gain parameters is deduced,so that the estimation after filtering is optimal posteriori estimation.Finally,the simulation result shows that the proposed algorithm is a good way to solve the problem of large amounts of error,and the algorithmic validity of decoupling and line of sight rate extraction in the phased array radar seeker is proved.
引文
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[23]朱振虹,夏群利,蔡春涛,等.相控阵导引头去耦及视线角速率提取算法研究[J].战术导弹技术,2013,6(5):70-75.ZHU Z H,XIA Q L,CAI C T,et al.Research on phased array seeker decoupling and line of sight rate extraction algorithmic[J].Tactical Missile Technology,2013,6(5):70-75.
[2]ROCK J C,MULLINS J H,BOOTH J P.The past,present,and future of electronically-steerable phased arrays in defense applications[C]∥Proc.of the IEEE Aerospace Conference,2008:1-7.
[3]鲁天宇,尹健,夏群利,等.基于波束角误差补偿的相控阵导引头解耦算法[J].系统工程与电子技术,2015,37(9):2123-2128.LU T Y,YIN J,XIA Q L,et al.A kind of decoupling algorithm of phased array seeker based on beam angle error compensation[J].Systems Engineering and Electronics,2015,37(9):2123-2128.
[4]樊会涛,杨军,朱学平.相控阵雷达导引头波束稳定技术研究[J].航空学报,2013,34(2):387-392.FAN H T,YANG J,ZHU X P.Research on beam stable technology of phased array radar seeker[J].Acta Aeronautica et Astronautica Sinica,2013,34(2):387-392.
[5]李秋生.相控阵雷达导引头捷联去耦技术研究[J].制导与引信,2005,26(2):19-22.LI Q S.Strapdown decoupling technique research on phased array radar seeker[J].Guidance and Fuze,2005,26(2):19-22.
[6]ELGAME S A,SORAGHAN J.Target tracking enhancement using a Kalman filter in the presence of interference[C]∥Proc.of the Geoscience and Remote Sensing Symposium,2009:681-684.
[7]ROTSTEIN H,REINER J,BEN-ISHAI A.Kalman filter mechanization in INS/Seeker fusion and observability analysis[C]∥Proc.of the AIAA Guidance,Navigation,and Control Conference and Exhibit,2001:2001-4402.
[8]VERGEZ P L,MCCLENDON J R.Optimal control and estimation for strapdown seeker guidance of tactical missiles[J].Journal of Guidance,Control,and Dynamics,1982,5(3):225-226.
[9]YUN J,RYOO C K,SONG T L.Strapdown sensors and seeker based guidance filter design[C]∥Proc.of the International Conference on Control,Automation and Systems,2008:468-472.
[10]CHEN J,LI J H,YANG S H,et al.Weighted optimizationbased distributed Kalman filter for nonlinear target tracking in collaborative sensor networks[J].IEEE Trans.on Cybernetics,2017,47(11):3892-3905.
[11]宗睿.导引头天线罩误差及相控阵导引头波束指向误差在线补偿方法研究[D].北京:北京理工大学,2016.ZONG R.Research on online compensation methods for radome error of seeker and beam direction error of phased array seeker[D].Beijing:Beijing Institute of Technology,2016.
[12]张旭辉,林海军,刘明珠,等.基于蚁群粒子群优化的卡尔曼滤波算法模型参数辨识[J].电力系统自动化,2014,38(4):44-49.ZHANG X H,LIN H J,LIU M Z,et al.Model parameters identification of UKF algorithm based on ACO-PSO[J].Automation of Electric Power Systems,2014,38(4):44-49.
[13]YANG G,ZHOU F R,MA Y,et al.Identifying lightning channel-base current function parameters by powell particle swarm optimization method[J].IEEE Trans.on Electromagnetic Compatibility.2017,60(1):182-187.
[14]LI J,ZHANG J Q,JIANG C J.Composite particle swarm optimizer with historical memory for function optimization[J].IEEE Trans.on Cybernetics,2015,45(10):2350-2363.
[15]秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理[M].3版.西安:西北工业大学出版社,2015.QIN Y Y,ZHANG H Y,WANG S H.Kalman filtering and integrated navigation principle[M].3rd ed.Xi’an:Northwestern Polytechnical University Press,2015.
[16]WANG L,YANG B,ORCHARD J.Particle swarm optimization using dynamic tournament topology[J].Applied Soft Computing,2016,48(16):584-596.
[17]SARKER R A,ELSAYED S M,RAY T.Differential evolution with dynamic parameters selection for optimization problems[J].IEEE Trans.on Evolution Computation,2014,18(5):689-707.
[18]ZHANG L,TANG Y,HUA C,et al.A new particle swarm optimization algorithm with adaptive inertia weight based on Bayesian techniques[J].Applied Soft Computing,2015,28(C):138-149.
[19]JI W,WANG J,ZHANG J.Improved PSO based on update strategy of double extreme value[J].International Journal of Control&Automation,2014,7(2):231-240.
[20]TRELEA I.The particle swarm optimization algorithm:convergence analysis and parameter selection[J].Information Processing Letters,2003,85(6):317-325.
[21]EBERHART R C,SHI Y.Comparing inertia weights and constriction factors in particle swarm optimization[C]∥Proc.of the Congress on Evolutionary Computation,2000:84-88.
[22]SHI Y,EBERHART R C.A modified particle swarm optimizer[C]∥Proc.of the IEEE International Conference on Evolutionary Computation,1998:69-73.
[23]朱振虹,夏群利,蔡春涛,等.相控阵导引头去耦及视线角速率提取算法研究[J].战术导弹技术,2013,6(5):70-75.ZHU Z H,XIA Q L,CAI C T,et al.Research on phased array seeker decoupling and line of sight rate extraction algorithmic[J].Tactical Missile Technology,2013,6(5):70-75.