基于自适应滑动窗口的飞行器轨迹实时平滑算法

Real-time Smoothing Algorithm for Aircraft Trajectory Based on Adaptive Sliding Window

摘要

为实现对飞行器目标的自动跟踪，需要给测量设备提供高精度的中心引导数据。针对目前飞行器测量数据误差导致的中心引导数据抖动剧烈和跳点野值多的问题，提出一种基于自适应滑动窗口的飞行器轨迹数据实时平滑算法。该算法先通过粗差探测算法对原始数据进行预处理，有效剔除异常野值；再采用自适应滑动窗口机制，根据数据特征动态调整窗口参数，实现轨迹数据的动态实时滤波，兼顾平滑效果与处理效率。为精准评估滤波性能，选取变量差分法、最小二乘拟合残差法、最大平滑度和边缘效应四项指标，对平滑前后的测量数据进行量化统计分析。通过仿真数据与3组实际飞行试验数据开展算法验证，结果表明，相较于传统滤波算法，该文算法鲁棒性更强、运算速度更快、实时性更优，能够有效抑制轨迹数据震荡，大幅减少跳点野值干扰。经该算法处理后的中心引导数据精度高、稳定性好，可满足飞行器自动跟踪中对数据精度和实时性的要求，具备较好的工程应用价值。

Abstract

To achieve automatic tracking of aircraft targets, it is necessary to provide high-precision central guidance data for measurement equipment. Aiming at the problems of severe jitter in central guidance data and numerous outlier jump points caused by current aircraft measurement data errors, a real-time smoothing algorithm for aircraft trajectory data based on adaptive sliding window was proposed. The algorithm first adopts the gross error detection algorithm to preprocess raw measurement data for effective outlier elimination. On this basis, an adaptive sliding window strategy was employed to dynamically adjust the window parameters according to data characteristics, realizing dynamic real-time filtering of trajectory data while balancing smoothing performance and computational efficiency. Four evaluation indicators including the variable difference method, least-squares fitting residual method, maximum smoothness and edge effect were selected to quantitatively analyze measurement data before and after smoothing. The algorithm was validated through simulation data and three groups of actual flight-test data. The result shows that the proposed algorithm features stronger robustness, higher computing speed and superior real-time capability compared with traditional filtering approaches. It can effectively suppress trajectory oscillation and eliminate most jump outliers. The processed central guidance data exhibits high precision and favorable stability, which fully satisfies the stringent requirements on precision and real-time performance for aircraft automatic tracking, and possesses promising practical engineering value.

关键词

飞行器 / 轨迹 / 平滑滤波 / 粗差剔除 / 测量设备

Key words

aircraft / trajectory / smoothing filtering / gross error elimination / measurement equipment

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