Radar tracking method based on coordinate rotation transformation

A technology of coordinate rotation and radar tracking, which is applied in the field of radar tracking and radar tracking based on coordinate rotation transformation, and can solve problems such as the effect of filtering target tracking effects.

Inactive Publication Date: 2012-06-20
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0026] In many actual radar tracking systems, the relationship between the radar target dynamic parameters and the radar measurement value is nonlinear, and the nonlinea

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  • Radar tracking method based on coordinate rotation transformation
  • Radar tracking method based on coordinate rotation transformation
  • Radar tracking method based on coordinate rotation transformation

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Embodiment Construction

[0136] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0137] figure 1 It is a schematic diagram of the corresponding relationship between the radar polar coordinates and the radar rectangular coordinates provided by the present invention, figure 2 It is a schematic diagram of two-dimensional coordinate rotation, assuming that the target moves in a straight line at a uniform speed in a two-dimensional plane. The specific steps are as follows:

[0138] Step S00: when the real distance r of the target in the polar coordinates of the radar 0 , the standard deviation of radar ranging noise σ r and the standard deviation σ of radar goniometric noise a When is the determined arbitrary value, the linearity ρ of the polar-rectangular coordinate transformation of the two-dimensional radar measurement can be solved by the following formula,

[0139] ρ=min(ρ xg , ρ yk )(1)

[0140] It can be obtained that the...

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Abstract

The invention discloses a radar tracking method based on coordinate rotation transformation. The method is based on the correlation coefficient of random variables and a coordinate rotation transformation principle so as to achieve the degree of nonlinearity of a measurement equation in a model of a quantitative measurement radar filtering system, reduce the degree of nonlinearity of the measurement equation in the model of the radar filtering system and further improve a radar tracing effect. The method comprises the following specific steps of defining two-dimensional radar measurement polar-rectangular coordination conversion linearity rho; getting a maximum value when the rho exists through coordinate rotation transformation when r0, sigma r and sigma a are any certain numerical values; setting a target motion state and performing filtering initialization; analyzing the target motion state from k time to k plus 1 time and establishing the measurement equation of a state equation under a coordinate rotation transformation filtering model; selecting a filtering algorithm to filter under the coordinate rotation transformation filtering model to get an estimated value in the target state at the k plus 1 time; and ending up tracking till the set radar tracking time length is reached.

Description

technical field [0001] The invention relates to radar tracking technology, belongs to the field of radar signal processing, and in particular relates to a radar tracking method based on coordinate rotation transformation. Background technique [0002] When estimating the motion state of the target, the scholar Kalman introduced the state variable method into the filtering theory to connect the state space description with the discrete time update, and estimate the linear minimum root mean square error of the state, which is the most widely used, and is called is the Kalman filter method. In the process of target tracking by radar, since it is easy to describe the motion state of the target in the rectangular coordinate system, the target state equation is usually established in the rectangular coordinate system. However, the measurement of the target position is usually obtained in the polar coordinate system, that is, in the polar coordinate system, the distance, azimuth o...

Claims

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Application Information

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IPC IPC(8): G01S13/72G01S7/295
Inventor 陈新亮曾涛李春霞
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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