Infrared/laser radar data fusion target tracking method based on multi-scale model

Abstract

Provided is an infrared / laser radar data fusion target tracking method based on a multi-scale model. The method comprises the steps that the multi-scale model is built; data collection is carried out on a target, and the distance measurement value, the azimuth angle measurement value and the pitch angle measurement value of the target are obtained; estimation is carried out on angle information obtained by an infrared detection system on a scale 1 through the unscented Kalman filter method; the angle estimation information and the distance information are fused on a scale 2; the target state is estimated through the Kalman filter method on the scale 2; the fused and estimated information is converted on the scale 1, filtering estimation is carried out on the scale 1 through the Kalman filter method, and an accurate filtering estimated value is obtained; the above steps are repeated, and a target movement track is obtained. The multi-scale model is quoted into information fusion, the target movement state is described more comprehensively and accurately, estimation filtering is carried out on the target on different scales, the estimation precision of the target state is improved, and the target tracking precision is improved through information interaction between different scales.

Description

technical field [0001] The invention belongs to the technical field of information processing, and in particular relates to an infrared / laser radar multi-sensor fusion target tracking method. Background technique [0002] As a passive detection system, the infrared detection system has the advantages of good concealment, not susceptible to electronic interference, good low-altitude detection performance, and high precision. It can provide target information for short-range defense weapon systems, but the infrared detection system can only provide angle measurement information. The ranging accuracy of the lidar detection system is high, and the ranging range meets the short-range requirements, but it lacks angle information. Therefore, the combination of the two can achieve information complementarity, thereby providing complete and accurate measurement information, and can accurately estimate the state of the target. , Improve system reliability and stability. [0003] Howe...

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Problems solved by technology

[0005] Aiming at the problems of different sampling rates, deviations in coordinate conversion measurement values, and coupling of observation noise in the process of target tracking by infrared / lidar multi-sensor fusion, the purpose of the present invention is to provide an infrared / lidar multi-sensor system based on a multi-scale model. Sensor Fusion Target Tracking Method

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