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针对利用图像信息实现飞行器的导弹预警跟踪中导弹运动2D建模、运动模型非线性和目标干扰非高斯等问题,研究了比例导引下导弹在三维空间中的运动在成像面上的运动模式,建立了比例制导导弹的2D投影运动状态模型.由于模型中速度和加速度等主要物理量的非线性,并考虑导弹运动过程中受到的风向、风力、气旋和气流等随机干扰的非高斯性,采用粒子滤波方法实现导弹跟踪;并针对粒子滤波在跟踪过程中存在的粒子退化问题,提出有序权值残差重采样粒子滤波(OWRR-PF,Ordered Weight Residual Resampling ParticleFilter)方法,该方法缓解了粒子退化问题,提高了跟踪的准确度.利用所建立的导弹运动模型进行连续视频试验,与标准粒子滤波相比跟踪精度提高了70%左右,与残差重采样粒子滤波方法相比跟踪精度提高了15%左右.
Aimed at the problems of missile 2D modeling, non-linear motion model and non-Gaussian interference of targets in missile early warning tracking of aircraft using image information, the movement pattern of the guided missile in three-dimensional space on the imaging plane is studied. The 2D projection motion state model of the gravity-guided missile is established.Due to the non-linearity of the main physical quantities such as velocity and acceleration in the model and considering the non-Gaussian nature of the random disturbance such as wind direction, wind force, cyclone and air flow during the movement of the missile, (OWRR-PF, Ordered Weight Residual Particle Filter) method is proposed to reduce the particle degeneration in the process of particle tracking. This method alleviates the particle degeneration Problem and improve the tracking accuracy.Using the established missile motion model for continuous video test, the tracking accuracy is improved by about 70% compared with the standard particle filter, and the tracking accuracy is improved by 15% compared with the residual resampling particle filter method %about.