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題 名 | Adaptive TDOA Passive Emitter Localization with UAVs=多載臺空中無人載具協同時差定位適應性法則之研究 |
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作 者 | 陶德仁; | 書刊名 | 新新科技年刊 |
卷 期 | 11 2015.01[民104.01] |
頁 次 | 頁224-230 |
分類號 | 598.68 |
關鍵詞 | 適應性擴展型卡曼濾波器; 輻射源目標定位系統; 空中多載臺尋優協同; 時差定位; 克拉美-羅下限; Adaptive extended Kalman filter; AEKF; Emitter localization of ground target; Optimal cooperative sensing with UAVs; Time-difference of arrival measurements; TDOA measurements; Fisher information matrix; FIM; Cramer-Rao lower bound; CRLB; |
語 文 | 英文(English) |
中文摘要 | 本文係利用多載台空中無人載具協同採用適應性擴展型卡曼濾波器以估測地面輻射源之位置座標。一般而言,輻射源目標定位系統(ELS)可被動式偵收、識別、及確定威脅目標輻射源脈波波束到達之時間及角度。文中首先利用估測誤差的克拉美-羅下限(CRLB)及信息含量所對應之Fisher Information Matrix(FIM)求取協同工作中不同空中載台目標定位系統間尋優之相對幾何關係,再由不同目標定位系統間接受輻射脈波到達時間之差異值採用適應性擴展型卡曼濾波器以估測目標之位置座標。該適應性擴展型卡曼濾波器其估測目標距離誤差共變異量之初始值將設定為隨著預測目標距離之大小而作適應性的調整,而目標距離之預測值則可藉由時差量測值計算後初步獲得之。 |
英文摘要 | In this study, an adaptive extended Kalman filter (AEKF) has been proposed to estimate the emitter position of ground targets by using a UAV team with cooperative sensing devices. The sensing devices are the emitter location systems (ELS) allow the passive autonomous acquisition, identification and determination of angle and time of arrival (TOA) of the pulse train for radiating targets and threats. The main idea to locate the target is first to analyze the geometry of the sensor allocations for optimal cooperative estimation in terms of the Cramer-Rao Lower Bound (CRLB) and the corresponding Fisher information matrix (FIM). And then, an AEKF is invoked to estimate the target position by using time-difference of arrival (TDOA) measurements from the sensing devices, where the initial range error covariance of the EKF is adapted proportional to the initial guess of target range to go. The initial guess of the range of the target can be obtained by employing intersecting spherical surfaces from TDOA measurements. |
本系統中英文摘要資訊取自各篇刊載內容。