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Passive Multi-Sensor Target Tracking Method Based on Intensity Filter

A multi-sensor, target tracking technology, applied in the field of guidance, can solve the problems of low tracking efficiency, large computational load, and increased particle number.

Inactive Publication Date: 2017-08-25
XIDIAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the intensity filter can obtain new target information through uniform sampling in the area, the number of particles will increase sharply with the expansion of the target area. When the particle density is low, the missed detection is more serious. Tracking is less efficient

Method used

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  • Passive Multi-Sensor Target Tracking Method Based on Intensity Filter
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  • Passive Multi-Sensor Target Tracking Method Based on Intensity Filter

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Experimental program
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Embodiment Construction

[0037] 1. Introduction to basic theory

[0038] 1. System equations

[0039] In the Cartesian coordinate system, the system state takes the position and velocity in the x and y directions, and the following nonlinear dynamic system model can be established:

[0040] x t+1 =Fx t +Ge t 1)

[0041] z t =h(x t )+w t 2)

[0042] where x t =[x t ,v x,t,y t ,v y,t ] T , T means transpose, x t ,y t Respectively represent the coordinates of the target in the x direction and y direction, v x,t ,v y,t represent the speed of the target in the x direction and y direction respectively, the subscript t∈[1,N] represents the time, and the state noise e t Obey variance is The zero-mean Gaussian distribution of , diag[@] means diagonalizing the elements in it, σ x and σ y Indicates the position standard deviation, F, G are state transition matrix and input matrix respectively, h is a nonlinear function, measurement noise w t Obey a zero-mean Gaussian distribution with va...

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Abstract

The invention discloses a passive multi-sensor multi-target tracking method based on an intensity filter, so as to solve the problem that the prior art cannot accurately track the multi-target in the situation of unknown clutter intensity and unknown new target. The implementation scheme is as follows: first, obtain the corresponding coordinates under the passive multi-sensor pure angle measurement through the least squares cross localization method based on Newton iteration, and correlate the coordinates of the two moments before and after to obtain the new target set; The state distribution of the target produces a new target sample set; then multi-target tracking is performed using an intensity filter. The invention can not only quickly obtain a new target sample set, reduce the number of target samples, and improve the target tracking efficiency, but also can update the clutter intensity in real time while estimating the target state, and can be used for multi-target tracking.

Description

technical field [0001] The invention belongs to the technical field of guidance, relates to unknown newborn multi-target tracking, in particular to a passive multi-sensor target tracking method, which can be used in systems such as infrared guidance. Background technique [0002] The basic purpose of target tracking is to estimate the number and state of the current target based on the measurement set mixed with clutter and noise. Due to the appearance and disappearance of targets and the existence of target derivation process, the number of targets may change at each moment. Passive multi-sensors cannot obtain the distance information of the target, and the target information obtained by it is generally the azimuth and elevation angle information of the target. Passive multi-sensor target tracking is essentially a nonlinear tracking problem. How to apply nonlinear filtering to passive multi-sensor Sensor target tracking has always been a research hotspot and difficulty in ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00
Inventor 李翠芸代标姬红兵李宁
Owner XIDIAN UNIV