Variable structure joint probability data interconnection formation target tracking method

Abstract

The invention discloses a variable structure joint probability data interconnection formation target tracking method, and belongs to the field of radar data processing. According to the tracking method, the measurement characteristic of a target in formation when formation maneuvers under detection of multiple sensors is deeply analyzed, a formation confirmation matrix is built based on the central point of formation measurement and a central track of a formation track, a plurality of formation interconnection matrixes are obtained by splitting the formation confirmation matrix, the probability that the interconnection matrixes are true is derived, state update of the target in the formation is completed by judging the maneuvering mode of the target in the formation based on the formation interconnection matrixes and through a corresponding maneuvering formation target tracking model, and accurate tracking of the target in the maneuvering formation under detection of the centralized multiple sensors is achieved according to the probability that the interconnection matrixes are true on the basis of weighted average idea. Compared with the prior tracking technique, the tracking method has the advantages that the tracking accuracy is higher, the effective tracking efficiency is higher, the algorithm time consumption is small, and the application and popularization value is high.

Description

technical field [0001] The invention relates to a variable-structure joint probability data interconnection mobile formation target tracking method in the field of radar data processing, and is suitable for information fusion systems of various centralized structures. Background technique [0002] The traditional multi-sensor multi-target tracking algorithm has very limited tracking effect on formation targets. This type of algorithm is usually based on measurement to directly establish a navigation for the targets in the formation, but because the distance between the targets in the formation is small, the tracking gates of each target will overlap seriously, and the difficulty of data interconnection is greatly increased; moreover, because the behavior patterns of the targets in the formation are similar, Wrong trajectory initiation and maintenance can be continued at subsequent moments, which can easily lead to overall chaos. [0003] In order to solve this problem, scho...

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Problems solved by technology

However, with the improvement of sensor resolution, the following deficiencies gradually appear: First, the derivation environment of the existing formation target tracking algorithms is mostly relatively simple, and it is usually assumed that the individual targets in the formation are completely identifiable. However, in the actual detection process, due to the Due to factors such as mutual occlusion of the formation and insufficient sensor resolution, formation targets are usually partially discernible; second, in some practical engineering applications, such as the interception of low-altitude formation penetration targets, and the tracking of targets with special value within the formation, etc., While tracking the entire formation, it is very necessary to track the individual targets in the formation individually. However, the existing formation target tracking algorithms usually only get the overall state of the formation, without considering the precise tracking of targets in the formation; third, the current target space It has been extended to land, sea, air, space, and electric multi-dimensional space. Radar, infrared, sonar, satellite, etc. are all sensors for obtaining target information. In order to effectively improve the precise tracking effect of targets in the formation, multiple sensors need to be used in engineering , Observing formation targets from different directions, however, the existing algorithms only consider the single-sensor situation, and there is no research on the more complex multi-sensor situation

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