【摘要】 为了在观测受限、高噪声的复杂环境下实现高精度的目标定位，提出一种仅基于被动雷达传感器纯角度量测的集群协同目标定位联合优化算法。该方法通过基于定向数据链技术的高精度相对测距进行分布式集群协同自定位，根据解算的弹间相对位姿结果与惯导信息，生成每一时刻的弹间相对位姿约束和前后时刻弹体惯导约束，基于飞行器运动特性与雷达角观测特性建立联合优化模型，统一进行联合优化。上述方法可以实现在飞行器集群长距离、大范围、雷达误差较大的情况下准确可靠地定位目标，仿真实验验证了在不同仿真环境下该算法的有效性和准确性。更多还原

【Abstract】 In complex environments with limited observation and high noise, to achieve high-precision target positioning, a joint optimization algorithm for cluster collaborative target positioning based solely on passive radar sensor pure angular measurements is proposed. By this method, the distributed cluster collaborative self-localization can be performed through high-precision relative ranging based on directional datalink technology. Relative pose constraints between missiles and inertial guidance constraints for the missile body at each moment are generated based on the calculated inter-missile relative pose results and inertial guidance information. A joint optimization model is established based on the motion characteristics of the aircrafts and the radar angle observation characteristics to perform a unified joint optimization. By the aforementioned method, the targets can be accurately and reliably located under conditions of long distance,large range and large radar errors in the aircraft cluster. The effectiveness and accuracy of this algorithm have been verified in different simulation environments.更多还原