| 摘要 |
A system (30) for determining a missile kinematic property. The inventive system includes a radar system (36) for obtaining radar range measurements (34). An inertial reference unit (40) tracks changes in missile acceleration without the use of the radar range measurements and provides a signal (38, 42) in response thereto. An altitude Kalman filter (32) and a subtractor circuit (48) are used to combine the signal (38, 42) and the radar range measurements (34) to provide an accurate estimate (50) of the property. In a specific embodiment, the kinematic property includes missile vertical velocity and missile altitude. A radar system (36) supplies radar range information (34) to the Kalman filter (32). A loop (52) from the Kalman filter (32) to the radar system (36) facilitates estimating the radar range measurements (34) when invalid radar range measurements are provided by the radar system (36). The Kalman filter (34) is a two state filter, one state corresponding to missile altitude, and the other state corresponding to missile vertical velocity bias error in the inertial reference unit's (40) velocity measurements (42). In the illustrative embodiment, the Kalman filter (32) combines radar pseudomeasurement estimates of missile altitude with estimates (38) of missile altitude obtained from the inertial reference unit (40) and provides an output signal (46) representative of an accurate missile altitude estimate in response thereto. The Kalman filter (32) includes a velocity bias output (44) which provides an estimate of the error in a velocity measurement (42) obtained from inertial reference unit (40) to the subtractor circuit (48). The subtractor circuit (48) subtracts the estimate (44) of the bias error from the velocity measurement (42) and provides the missile velocity estimate (50) in response thereto.
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