机载三维纯方位无源定位的可观测性

纯方位系统的可观测性,是指系统在纯方位观察条件下,能唯一的求解目标的运动参数。针对三维空间作匀速直线运动的目标,首先建立了观测器与目标之间的矢量图形以及矢量方程;并通过解矢量方程转化为对观测矩阵的分析,最后利用克莱姆法则以及矩阵秩的概念对纯方位系统跟踪的可观测性问题进行了讨论,得到了观测器在匀速直线运动以及匀加速直线运动情况下的观测性结论:匀速直线运动观测器的观测指数恒为常数,目标是不可观测的;匀加速直线运动观测器的观测指数非常数时,目标是可观测的。文中采用的研究方法在机载纯方位目标运动状态的观测性分析中是可行的,对观测载机优化轨迹的生成具有一定的指导意义。

Research on the Observability Problem for Three-dimensional Bearings-Only Location of Aircraft

A bearings-only system is considered to be observable if,and only if,the target motion parameters can be uniquely determined by bearings-only observations.The problem of observability for bearings-only target location is discussed in this paper based on the target traveling in the three-dimensional space at a uniform velocity.The vector-graph between target and observer is drawn and vector equations are founded,by utilizing Gramme rule and rank of matrix,the observability of the observer with a uniform velocity and a uniform acceleration is obtained.It is shown that the target is unobservable toward observer with a uniform velocity as the observability index is a constant;the target is observable if the observability index is not a constant toward observer with a uniform acceleration.The study done in this paper is valuable to solving the bearings-only target observability analysis and it is of constructive sense to producing optimal trajectory of the observer.