文中针对单站红外被动式跟踪存在可观测性问题,提出红外与激光主/被动单目标联合跟踪方法.该方法首先针对三维空间任意机动目标的跟踪问题,将参考文献[1]给出的一维机动目标“当前”统计模型推广到三维情况,得到三维情况下跟踪任意机动目标的状态方程和跟踪系统的非线性测量方程,然后对红外探测器测量的角度信息和激光测得的距离信息进行融合对准,得到正确的测量值.最后,提出扩展的自适应卡尔曼滤波算法并进行了仿真研究.仿真研究表明方案可行,可同时对三维空间目标的位置、速度、加速度进行估计.

In order to solve the passive tracking observability problem of single infrared sensor, an active\|passive joint tracking algorithm for maneuvering target with infrared sensor and laser is developed. The current statistical model for maneuvering target is extended from one dimension to 3-D. The state and measurement equations for arbitrary maneuvering target in 3-D are educed. The angle and range measured by infrared sensors and laser respectively are fused and aligned in time and the correct measurements for target are given. The extended adaptive Kalman filter algorithm is used to estimate the position, velocity and acceleration of maneuvering target in 3-D space simultaneously. The results of simulation show that the presented algorithm is feasible and satisfying.