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上传时间: 2022-05-31 17:57:49
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文件大小: 743KB
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文件类型: PPT
4、纯方位角单目标跟踪
纯方位跟踪系统仿真程序
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 程序说明: 单站单目标基于角度的跟踪系统,采用粒子滤波算法
% 状态方程 X(k+1)=F*X(k)+Lw(k)
% 观测方程 Z(k)=h(X)+v(k)
function main
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 初始化参数
clear;
T=1; % 采样周期
M=30; % 采样点数
delta_w=1e-4; % 过程噪声调整参数,设得越大,目标运行的机动性越大,轨迹越随机(乱)
Q=delta_w*diag([0.5,1,0.5,1]) ; % 过程噪声均方差
R=pi/180*0.1; % 观测角度均方差,可将0.1设置的更小
F=[1,T,0,0;0,1,0,0;0,0,1,T;0,0,0,1];
%%%%%%%%%%%%%%% 系统初始化 %%%%%%%%%%%%%%%%%%
Length=100; % 目标运动的场地空间
Width=100;
% 观测站的位置随即部署
Node.x=Width*rand;
Node.y=Length*rand;