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Adaptive target tracking method based on angle information

An adaptive tracking and target technology, which is used in navigation, measurement devices, instruments, etc. through velocity/acceleration measurement. It can solve the problems of low tracking accuracy and inability to distinguish whether the target is a fixed target or a moving target.

Inactive Publication Date: 2015-05-13
HARBIN INST OF TECH
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0003] The present invention is to solve the problem that passive sensors are used to detect remote targets in the existing reconnaissance system, the tracking accuracy is low, and the target cannot be distinguished as a fixed target or a moving target, and a target adaptive tracking method based on angle information is provided.

Method used

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  • Adaptive target tracking method based on angle information
  • Adaptive target tracking method based on angle information
  • Adaptive target tracking method based on angle information

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specific Embodiment approach 1

[0036] Specific embodiment one: the following combination figure 1 Describe this embodiment, the angle information-based target adaptive tracking method described in this embodiment, which includes the following steps:

[0037] Step 1: Use the electronic support system to collect the angle value θ(k) of the target in real time, where k is a positive integer, which is the sampling sequence number of the target at a predetermined time interval, and then filter the obtained angle value θ(k) of the target, And remove the outliers to obtain the real-time angle estimation value of the target

[0038] Step 2: Use the real-time angle estimate obtained in Step 1 Cross positioning the target to obtain the initial positioning position of the target, and then determine the initial position estimate value of the target by finding the center of gravity;

[0039] Step 3: Use the iterative filtering method to track the target according to the initial position estimate value and real-time...

specific Embodiment approach 2

[0041] Embodiment 2: This embodiment is a further description of Embodiment 1. In the method for adaptive tracking of targets based on angle information in this embodiment, in step 1, the angle value θ(k) of the target is outlier removed. The specific method is:

[0042] According to the outlier judgment formula:

[0043] | S ( k ) | ≤ C · [ H ( k ) P ( k | k - 1 ) H T ( k ) + R ( k ) ] , Judging the angle value θ(k) of the target, if ...

specific Embodiment approach 3

[0046] Specific embodiment three: this embodiment is a further description of embodiment two, the target adaptive tracking method based on angle information described in this embodiment, in the step two, cross-locate the target to obtain the initial positioning position of the target, and then The specific method to determine the estimated value of the initial position of the target by the method of finding the center of gravity is as follows:

[0047] Two electronic support systems are used to collect the angle value θ(k) of the target in real time, and the estimated real-time angle values ​​of the five targets obtained by the i-th electronic support system from the start time and then filtered are set to be The five target real-time angle estimates Two-by-two cross positioning obtains 25 cross positioning points, and sets the target initial positioning position corresponding to the jth cross positioning point as [x j ,y j ] T , j=1, 2, 3, 4, 5...25, x j is the x-axis...

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Abstract

An adaptive target tracking method based on angle information belongs to the technical field of slow moving target tracking in reconnaissance systems. The adaptive target tracking method solves the problems that the existing reconnaissance system adopts a passive sensor to detect a distal target, is low in tracking accuracy and cannot distinguish whether the target is a fixed target or a moving target. The adaptive target tracking method comprises the steps that an electronic support system is used for acquiring an angle value of the target in real time; the target is located crossly; an initial location position of the target is obtained; a method for calculating a gravity center is used for determining an estimated value of the initial position of the target; the target is tracked by an iterative filtering method according to the estimated value of the initial position and a real-time estimated angle value of the target; the average speed and acceleration of the target are obtained and compared with a preset average speed threshold and an acceleration threshold of the target respectively; the target type is determined; and the adaptive tracking is conducted on the target according to the target type. The adaptive target tracking method is applicable to tracking the target in the reconnaissance system.

Description

technical field [0001] The invention relates to a target adaptive tracking method based on angle information, and belongs to the technical field of slow moving target tracking in a reconnaissance system. Background technique [0002] In modern warfare, reconnaissance systems usually use passive sensors such as sonar and Electronic Support System (ESM) to obtain remote target radiation source and azimuth information in order to improve their concealment. The angular resolution is low, the detection accuracy is poor, and the fixed target and the moving target cannot be distinguished. At present, the resolution of fixed and moving targets at home and abroad is based on imaging. This method requires expensive sensors and high-complexity imaging algorithms, which is not conducive to the promotion of engineering applications. SUMMARY OF THE INVENTION [0003] The invention provides a target adaptive tracking method based on angle information in order to solve the problem that t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/10
Inventor 刘梅俞建国位寅生姚璐
Owner HARBIN INST OF TECH
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