A Method for Decoupling Target Motion from Base Motion in Line of Sight (LOS) Tracking Systems

This paper proposes a method for enhancing the target tracking accuracy and disturbance rejection performance of moving-base Line of Sight (LOS) tracking systems. The method decouples target motion from base motion, allowing for the compensation of base motion as a measurable disturbance at the angular velocity output. This is achieved through the use of a feedforward controller, which improves the disturbance rejection performance of the system. With regard to target motion, an Extended Kalman Filter (EKF) integrating multiple sensors is employed to estimate the motion of the target with respect to the turntable. This eliminates the necessity to obtain the absolute attitude of the turntable base. The estimation is then used to generate angular velocity commands for feedforward control, and enhancing the system's target tracking accuracy. This approach decouples the base motion, thereby eliminating its adverse effects on command estimation and avoiding conflicts with base motion disturbance feedforward. Finally, through comparative simulation experiments, the effectiveness of the proposed method for moving-base LOS tracking systems is validated.