中国空间科学技术

中国空间科学技术 ›› 2025, Vol. 45 ›› Issue (3): 154-163.doi: 10.16708/j.cnki.1000.758X.2025.0047

• 论文 • 上一篇    

基于平方根信息滤波的高超声速目标协同跟踪

王晨阳1，李超勇1,*，宋勋2，王林波2   

  1. 1.浙江大学 电气工程学院，杭州310027
    2.北京电子工程总体研究所，北京100017
  • 收稿日期:2024-03-14 修回日期:2024-05-04 录用日期:2024-05-21 发布日期:2025-05-15 出版日期:2025-06-01

Cooperative tracking of hypersonic vehicle with square root information filter

WANG Chenyang1，LI Chaoyong1,*，SONG Xun2，WANG Linbo2   

  1. 1.College of Electrical Engineering,Zhejiang University,Hangzhou,310027,China
    2.Beijing Institute of Electronic System Engineering,Beijing,100017,China
  • Received:2024-03-14 Revision received:2024-05-04 Accepted:2024-05-21 Online:2025-05-15 Published:2025-06-01

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摘要： 在高超声速飞行器（Hypersonic Vehicle,HV）的协同跟踪问题上，传统非线性滤波算法在有限精度的嵌入式系统上运行时，由于舍入误差的积累，协方差矩阵可能会变为非正定，这会导致滤波器发生数值错误而崩溃。为了对高超声速目标进行稳定而又快速的跟踪，在容积信息一致性滤波器（Cubature Rule-embedded Information Consensus Filter Cub-ICF）的基础上，引入了平方根滤波思想，推导得到了Cub-ICF平方根形式的等价描述，保证了滤波过程中协方差的正定性和对称性。并通过使用有限时间一致性算法，设计了兼顾数值鲁棒性和一致性收敛速度的有限时间一致性平方根容积信息滤波器（Finite-time Consensus Square Root Cubature Information Filter,FC-SRCIF）。仿真结果表明，无论是对非机动目标还是机动目标的跟踪，FC-SRCIF均优于现有协同跟踪算法，特别是对机动目标的跟踪上，FC-SRCIF在位置和速度上的跟踪精度比Cub-ICF高41.9%和37.1%，同时收敛速度也得到提高。证明FC-SRCIF在HV的协同跟踪问题上具有独特优势。

关键词: 高超声速飞行器, 分布式状态估计, 信息滤波, 平方根滤波, 有限时间一致性

Abstract: In the cooperative hypersonic vehicle (HV) tracking problem,traditional nonlinear filtering algorithms may encounter numerical errors and collapse due to the accumulation of round-off errors when running on embedded systems with limited precision.To track HV more stable and faster,square root filtering was introduced in cubature rule-embedded information consensus filter (Cub-ICF),and the equivalent square root form was derived.This ensured the positive definiteness and symmetry of the covariance during the filtering process.On the basis of finite-time consensus algorithm,a finite-time consensus square root cubature information filter (FC-SRCIF) which combined the numerical robustness and convergence rate was designed.Simulation results demonstrate that FC-SRCIF outperforms existing cooperative tracking algorithms for both non-maneuvering and maneuvering targets.Particularly,for maneuvering target tracking,FC-SRCIF exhibits a 41.9% and 37.1% higher tracking accuracy in position and velocity compared to Cub-ICF,respectively,while also improving the convergence rate.These findings validate the unique advantages of FC-SRCIF in addressing the cooperative tracking problem of HV.

Key words: hypersonic vehicle, distributed state estimation, information filter, square-root filtering, finite-time consensus