IJE TRANSACTIONS B: Applications Vol. 28, No. 2 (February 2015) 172-179   

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A.R. Toloei and S. Niazi
( Received: July 08, 2014 – Accepted: November 13, 2014 )

Abstract    One of the most important problem in target tracking is Line Of Sight (LOS) rate estimation for using from PN (proportional navigation) guidance law. This paper deals on estimation of position and LOS rates of target with respect to the pursuer from available noisy RF seeker and tracker measurements. Due to many important for exact estimation on tracking problems must target position and Line Of Sight rates estimated with least error rather than actual values. In this paper extended Kalman filter (EKF) and unscented Kalman filter (UKF) algorithms are used for estimation of target position in three-dimensional (3-D) and LOS rates in elevation and azimuth for seekers and trackers. For comparison of algorithms, model of the system simulated using MATLAB and many tests were carried out. Simulation experiments show that the efficiency of EKF due to least RMSE has better performance. However, the performance of EKF algorithm has been dramatically decreased when initializations (initial state assumption) are not near to real values, which in this condition UKF method provides a more accurate approximation. Numerical results from simulations show that the UKF is robust against uncertainties and has better state estimation accuracy. Therefore, UKF algorithm is appropriate, and it can run on target tracking systems


Keywords    Estimation, gimbal seeker, line of sight rate, optimal filtering, extended Kalman filter, unscented Kalman filter


چکیده    یکی از مهمترین مسائل در تعقیب هدف، تخمین نرخ خط دید برای استفاده در قانون هدایت ناوبری متناسب می‌باشد. این مقاله بر روی تخمین موقعیت یک هدف متحرک و نرخ‌های خط دید مابین تعقیب کننده و هدف بر اساس اندازه گیری‌های همراه با نویز در جستجوگرهای فرکانس رادیوییوردیاب‌ها تمرکز نموده است. بعلت اهیمت فراوان تخمین دقیق در مسائل ردیابی می‌بایست موقعیت و نرخ‌های خط دید هدف با خطای کمتری نسبت به مقادیر واقعی تخمین زده شوند. در این مقاله الگوریتم‌های فیلتر کالمن توسعه یافته (EKF) و فیلتر کالمن خنثی (UKF) برای تخمین موقعیت هدف در سه بعد ونرخ های خط دید در سمت و فراز برای جستجوگرها و ردیاب‌ها استفاده شده است. برای مقایسه الگوریتم‌ها، مدل سیستم با استفاده از نرم‌افزار MATLAB شبیه سازی شده و تعدادی سناریو اجرا گردیده است. نتایج آزمایش‌های شبیه‌سازی نشان می‌دهد کهدر ابتدا، کارایی EKF به علت خطای مربع میانگین ریشه (RMSE) کمتر،عملکرد بهتری داشته اما زمانی که مقادیر اولیه (فرض حالت اولیه) به مقدار واقعی نزدیک نباشد عملکرد EKF بصورت فزاینده‌ای کاهش می‌یابد که در این شرایط روش UKFدقت تقریب حالت بهتری دارد. نتایج عددی از شبیه سازی‌هانشان می‌دهد که UKFدقت تخمین حالت بهتری داشته و در برابر نامعینی‌ها مقاوم‌تر است. بنابراین الگوریتمUKFمناسب بوده و می‌تواند در سیستم‌های ردیابی هدف بکار گرفته شود.


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