针对光电跟踪系统对目标探测过程中发生的不完全量测现象, 采用雷达辅助光电跟踪系统进行协同跟踪保证量测的连续性。首先给出光电跟踪系统的不完全量测模型以及雷达辅助下的协同互牵引模型,提出基于粒子滤波的序贯融合算法; 其次, 利用粒子滤波求取传感器在每一时刻的Renyi信息增量作为协同过程互牵引准则, 确定互牵引触发时机, 确保协同过程的自主性。仿真结果表明: 通过选择合适的互牵引门限, 能够在尽量少的雷达辐射的条件下改善对目标跟踪性能并保证对目标探测的稳定性。

In allusion to the situation in which optic-electric tracking system tracking targets with intermittent observations, cooperative tracking with radar was proposed to ensure the constant of measurements. Firstly, the intermittent measurement model of optic-electric tracking system and the cross cueing model in cooperation between optic-electric tracking system and radar were established, multi-sensor sequence fusion algorithm based on particle filter was proposed. Secondly, Renyi information gain at each time was acquired by particle filter to be cross cueing criterions which determine the triggering time and ensure the autonomous cooperation. Simulation results show that this method can achieve a desired and stable tracking performance through selecting a suitable cross cueing threshold, under the condition of minimum radar radiation time.