Target tracking method based on radar/infrared measurement data coordinate conversion

Abstract

The invention relates to a target tracking method based on radar / infrared measurement data coordinate conversion, wherein the target tracking method is formed by converting the measurement data coordinate systems of a radar sensor and an infrared sensor and combining an interactive multimode method of target tracking. The method includes the following steps: firstly, selecting multiple models andsetting relevant parameters through a man-machine interaction interface module; secondly, receiving the data values measured by the radar sensor and the infrared sensor through a radar infrared data interface module; thirdly, obtaining error covariance by conversion and measurement through a data measurement conversion module; fourthly, tracking a maneuvering target through an interactive multimode target tracking module; and fifthly, obtaining the evaluation value of tracking target position and status through a target status evaluation output module. The method is simple in calculation, does not need to conduct linear treatment on an angle measurement model, has no linear error of models and is good in real-time property and high in tracking accuracy when used in a maneuvering target tracking system of the radar / infrared sensors.

Description

technical field [0001] The algorithm relates to a target tracking method based on coordinate transformation of radar / infrared measurement data, and is especially used in a radar / infrared sensor maneuvering target tracking system, belonging to the field of radar data processing. Background technique [0002] Modern radar systems generally consist of the following two major components, namely: the radar signal processor part and the radar data processor part. The radar signal processor is used as the first processing, and the processed signal is sent to the radar data processor for the second processing. The radar data processor performs operations such as interconnection, tracking, filtering, smoothing, and prediction after obtaining the target's position and motion parameters, so as to effectively suppress the random errors introduced in the radar measurement process and accurately estimate the target position and related motion parameters. , predict the position of the tar...

AI Technical Summary

Problems solved by technology

The traditional computationally simple filtering method for radar / infrared sensor maneuvering target tracking system is the Extended Kalman Filter (EKF), but there is a model linearization error in EKF. When the angle measurement is close to 90 degrees, the angle measurement model will be There is a strong nonlinearity, which can easily lead to filter divergence and greatly reduce the tracking accuracy

Since the radar / infrared sensor maneuvering target tracking system generally uses mixed coordinate system filtering, another method is to convert the measured values ​​of radar and infrared to the Cartesian coordinate system for filtering in the same coordinate system, that is, conversion measurement filtering (CMF), But the difficulty of this method is how to accurately calculate the covariance of the conversion measurement error

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