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Target tracking method based on multi-scale dimensional decomposition

A target tracking and multi-scale technology, applied in the field of target tracking, can solve the problems of sensor tracking accuracy, reliability, stability limitations, etc.

Inactive Publication Date: 2012-09-19
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the increasingly complex target environment and the limitations of its own structure, the tracking accuracy, reliability, and stability of a single sensor are all limited.

Method used

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  • Target tracking method based on multi-scale dimensional decomposition
  • Target tracking method based on multi-scale dimensional decomposition
  • Target tracking method based on multi-scale dimensional decomposition

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Embodiment Construction

[0056] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0057] combine Figure 1~3 , the purpose of the present invention is achieved in this way: first, a single sensor provides the measurement data of the target angle or track, and uses the wavelet decomposition method to decompose the measurement data into several scales, and then uses the EKF algorithm to analyze the target angles on different scales. Perform coarse tracking and filtering. Finally, the processing results on different scales are fused, and the wavelet reconstruction algorithm is used to realize the precise tracking of the target on the same scale. When reconstructing, the maximum value points of the details at each scale are removed to further filter out noise and outliers. In this way, more accurate target angle or track data can be obtained, and accurate tracking of targets in various complex environments can be realized.

[0058] The invention...

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Abstract

The invention aims at providing a target tracking method based on multi-scale dimensional decomposition, and the target tracking method comprises the following steps of selecting a wavelet-base function to decompose a target angle or track measurement data onto a scale, predicting and filtering the measurement data on a low-frequency subspace of each scale by utilizing extended kalman filtering (EKF) algorithm to obtain a rough tracking result of the target on different scales, and further eliminating the influence of noise and wildvalue by utilizing the wavelet threshold algorithm on the high-frequency subspace of different scales; and converging the tracking data on different scales through the wavelet reconstruction algorithm to obtain the precise tracking data of the target. The target tracking method can effectively, accurately, reliably and stably track the target in different complicated environment, the multi-scale EKF algorithm is realized by utilizing field programmable gate array (FPGA) parallel processing structure, the wavelet decomposition and rebuilding, the EKF algorithm of different scales and the wavelet threshold denoising are simultaneously implemented, and the real-time performance of the target tracking is ensured.

Description

technical field [0001] The invention relates to a tracking method in the field of target tracking. Background technique [0002] Target tracking based on a single sensor has been widely used because of its simplicity, practicality and good economy. However, due to the increasingly complex target environment and the limitations of its own structure, the tracking accuracy, reliability, and stability of a single sensor are all limited. Therefore, it is urgent to develop new tracking algorithms. Contents of the invention [0003] The purpose of the present invention is to provide an effective, accurate, reliable and stable target tracking method based on multi-scale dimensional decomposition in various complex environments. [0004] The purpose of the present invention is achieved like this: [0005] A kind of target tracking method based on multi-scale dimension decomposition of the present invention, it is characterized in that: [0006] (1) Use wavelet basis function to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
Inventor 林云李靖超李一兵葛娟康健李一晨叶方
Owner HARBIN ENG UNIV
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