一种基于三维到达角的无偏伪线性卡尔曼滤波

; In order to solve the problem of target tracking based on three-dimensional angle of arrival (AOA) in large scenes, a pseudo linear Kalman filter with unbiased properties is proposed. Firstly, the target motion and measurement are modeled based on three-dimensional angle of arrival. After that, the measurement model is pseudo-linearized to obtain a linear form of the target measurement model. In order to solve the bias problem of pseudo-linear Kalman filter, a 3D unbiased pseudo-linear Kalman filter combined with extended Kalman filtcr(EKF) is proposed. Simulation results show that the model can effectively track both non maneuvering and maneuvering targets. For targets at 100 km level, when the angle measurement error changes from 0. 1° to 0. 5°, the algorithm can reduce the absolute position error to less than 10 km at the end of the simulation time. The algorithm's operating speed is at the same order of magnitude as EKF. Meanwhile, to meet the requirements of anti-interference ability, positioning and tracking accuracy, and operating efficiency, and it can provide effective method for target tracking in large scenes.