针对无源目标跟踪中将非线性测量方程伪线性化带来有偏估计的缺点,提出了一种基于方位和径向速度联合估计的渐进无偏目标跟踪算法.该算法通过对方位-径向速度组成的伪线性测量方程的噪声协方差矩阵进行约束,使其均方误差达到最小,得到目标状态向量的最小二乘无偏解.仿真和实验结果表明,在观测站非机动情况下,算法能够渐进无偏地收敛到真值,收敛后的距离跟踪误差在5%以内.%An unbiased target tracking algorithm is proposed based on bearing and radial velocity parameters fusion, which overcomes the biased problem of pseudo linear method derived from nonlinear measurement equations. In this paper, with a constraint condition of noise convariance matrix, we minimize the mean-square error of nonliner measurement equations, then the unbiased least square solution can be obtained. Simulation results show that the proposed algorithm can get an asymptotically unbiased state value. The effectiveness of the method is also verified by using the experimental data, and the mean relative error of target range tracking is within 5%.
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