| Photoelectric theodolite is a photo-electricity measurement equipment, which is used toobtain the trajectory data and flight posture in range test. Along with the development ofscience and technology, the precise estimation in aviation, aerospace and military engineering,brings a huge challenge to target tracking. Accordingly, kinds of new technology are used intarget tracking to achieve the higher requirement. And the maneuvering target tracking hasbeen a significant researching direction in estimating field.Commonly, Problems in maneuvering target tracking do not match between model andreal trajectory. Consequently, making the suitable model is one of the key of target tracking.Tracking of target location, speed and acceleration is the other keystone of target tracking.Therefore, the study on target tracking filter algorithm for fast acquisition and precise trackingis significant.Firstly, this thesis introduces some commonly used target models. And then, a detailedstudy on the prediction and filtering algorithms has done, particularly on Kalman filter,extended Kalman filter(EKF) and adaptive Kalman filter which is based on the currentstatistic model, striving for a high precision, good filtering effect and the practical filteringalgorithm.In the thesis, MATLAB simulation tools were used to verify the effectiveness of variousalgorithms. Firstly, this thesis builds a model for photoelectric-theodolite’s measurements insome range test, and using Kalman filter to simulate. The experimental results showed that theKalman filter is very effective on the estimating of maneuvering targets. Secondly, in view ofthree different target maneuvering modes, choosing adaptive Kalman filter which was basedon the current statistic model to simulate and verify algorithm in this thesis. Besides that, twodifferent amendments of algorithm are made for some shortcomings of the algorithm. Thesimulation results show that the adaptive Kalman filter algorithm can well estimate thetarget’s state. The amended filtering algorithm also remedies the shortcomings in theestimation on target’s state, consequently improving the estimating results. |
