2results about How to "Improve object tracking performance" patented technology

The application discloses a multi-sensor cross prompting target tracking method and device, obtains working state information of all sensors, obtains a first number of sensors in a working state; compares the first number with a sensor working number threshold value, selects a sensor group according to a comparison result; obtains target detection information output by each sensor in the sensor group; fuses all target detection information to obtain target fused detection information; determines final target state information according to the target fused detection information; the application can coordinate and manage multiple sensors, avoids all sensors working at the same time, and can realize fast and accurate tracking of a target, improves working efficiency of the sensors; meanwhile, a weighted fusion method is adopted to fuse target detection information of the sensor group, more accurate final target state information is obtained, and the system has better target tracking performance.

This invention discloses an improved unmanned surface vessel (USV) target tracking method: Step 1, acquire target USV position and heading angle data to obtain target USV sampling data; Step 2, based on the target USV sampling data, obtain heading angle change data at adjacent sampling times; Step 3, smooth the heading angle change data to obtain preprocessed data; Step 4, based on the preprocessed data and combined with the designed offset law, calculate the offset angle α; Step 5, calculate the absolute azimuth angle of the line segment connecting the USV and the target USV according to the target USV's heading angle and offset angle α; Step 6, based on the absolute azimuth angle and the target USV's position coordinate information (x... target ,y target ) Calculate the tracking point (x) under the relative time-varying point tracking strategy tracking ,y tracking The tracking point coordinates are obtained. This invention overcomes the problem of poor tracking performance when the target vessel turns, which exists in the tracking method that uses the center of the fan-ring domain as the tracking point. It also improves the target tracking effect and control stability, while reducing the energy consumption of the unmanned surface vessel.