基于粒子滤波的无人机航迹预测方法研究

介绍了一种基于粒子滤波的无人机航迹预测的新方法。在对无人机航迹进行分析的基础上,选择了对航迹影响敏感的俯仰角、横滚角、偏航角等姿态角作为研究参数。通过对大量飞行姿态角数据的分析,建立了系统的状态空间方程。最后,运用粒子滤波算法,通过对姿态角的预测间接实现无人机航迹的预测。通过与飞行真实值的比较,验证了基于粒子滤波的航迹预测方法的有效性。

Research of UAV track forecast based on particle filter

An UAV track forecasting approach based on particle filter is presented in this paper.The track system determines the actual flight line,to predict it means a lot.Based on the analysis of flight path,the attitude angle（pitch angle,roll angle and yaw angle） was chosen as parameters,which sensitive impact on the track path.Through analysis of a large number of flight attitude angle data,the system＇s state space equation was established.Finally,based on the use of particle filter,the UAV track forecast was achieved through indirect forecast of the three attitude angles.By comparison with the true value,the validity of this method was verified.