A trajectory tracking method and system for non-cooperative targets under multi-observation nodes

Abstract

The invention relates to a disoperative target trajectory tracking method under multiple observation nodes. The method comprises the following steps: the locating of a disoperative target is realized through a plurality of signal transmitting points and a plurality of observation receiving points in the sea to generate target locating bright points; the target locating bright points near the base line between each pair of signal transmitting point and observation receiving point are rejected; time alignment is performed on the target locating bright points to obtain the target locating bright point in each pulse period; the clustering process is performed on the bright point obtained in each pulse period through clustering analysis, and the bright points which are away from the class center are rejected through Kalman filtering; the bright point obtained in each pulse period is processed, the remaining bright points are averaged, and segmentation fitting is performed on the average value to obtain a target trajectory; segmentation prediction is performed on the target trajectory again, and the bright point which are away from the predicted trajectory are rejected through the Kalman filtering to realize iterative filtering; and the remaining bright points are averaged, and then segmentation fitting is performed through the least square method to obtain the final target trajectory.

Description

technical field [0001] The invention relates to the field of underwater acoustic signal detection, in particular to a trajectory tracking method and system for non-cooperative targets under multi-observation nodes. Background technique [0002] The target in the ocean is sometimes a non-cooperative target. It runs quietly by itself, does not actively transmit signals, and appears unexpectedly in the area to be observed. The self-noise is very low. Therefore, the active and passive multi-node detection method can effectively improve the detection of the target. Estimate performance. [0003] The multi-node detection network in the ocean has advantages over single-node, it has wider detection coverage, more flexible geometric layout, and is more conducive to the realization of target positioning and tracking. However, the advantages of the multi-node detection network can only be fully displayed under the condition that all nodes work together and use the control center for i...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the defect that the target trajectory tracking method in the existing multi-node detection network has large errors, thereby providing a method and system that can effectively improve the ability to identify non-cooperative targets

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