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Arbitrarily extended target shape and state estimation method based on b-spline function

A spline function and extended target technology, applied in radio wave measurement systems, instruments, etc., can solve problems such as inaccurate shape information and affect target state analysis, and achieve the effect of reliable information features

Inactive Publication Date: 2017-02-15
嘉兴市新中软计算机系统工程有限公司
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the RM method can only obtain the approximate elliptical shape of the target. If the target is not elliptical (such as a star or other irregular shape), the shape information obtained by this method will be inaccurate, which will directly affect the analysis of the target state.

Method used

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  • Arbitrarily extended target shape and state estimation method based on b-spline function
  • Arbitrarily extended target shape and state estimation method based on b-spline function
  • Arbitrarily extended target shape and state estimation method based on b-spline function

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Embodiment Construction

[0029] 1. Introduction to basic theory

[0030] 1. Kalman filter technology

[0031] Suppose the state equation and measurement equation of a single target are expressed as:

[0032] x k+1 =Fx k +Gw k (1)

[0033] the y k =h(x k )+v k (2) Among them, x k represents the state of the target at time k, F is a one-step transition matrix, h( ) represents the observation model, w k and v k Denote the state noise and measurement noise, respectively, and the corresponding covariances are denoted as Q k and R k .

[0034] Suppose the state x of the target at time k is known k and covariance P k , the Kalman filtering steps are as follows:

[0035] (1) Predict the target state at the next moment

[0036] x k+1|k =Fx k +Gw k

[0037] (2) Predict the covariance matrix at the next moment

[0038] P k+1|k =FP k f T +GQG T

[0039] (3) Calculation gain

[0040] K k+1 =P k+1|k [S k+1|k ] -1

[0041] S k+1|k =P k+1|k +R k+1

[0042] (4) Update the status a...

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Abstract

The invention discloses a random extended object tracking and shape estimation method based on a B spline function, and belongs to the technical field of guidance and intelligent information processing, mainly to solve the problem of carrying out tracking and shape estimation on a random extended object. According to the method, through a method of introducing multi-moment combined statistics, a pseudo measurement set of extended objects is built, object shape information is updated according to the pseudo measurement set, a B spline function is adopted for estimating object shapes, and thus, tracking and shape estimation on extended objects in random geometrical shapes can be realized, shape estimation accuracy and robustness are good, design requirements of a practical engineering system can be met, and engineering application values are good.

Description

technical field [0001] The invention belongs to the technical field of intelligent information processing and relates to a method for estimating the shape and state of an extended target. Specifically, it is an arbitrarily extended target shape and state estimation method based on B-spline function, which can be used for target tracking and shape estimation in various traffic control, robot navigation and precision guidance systems. Background technique [0002] In traditional detection systems such as low-resolution radar, the target is treated as a single point, because it is too small compared to the resolution unit of the sensor, and only occupies one resolution unit. However, with the continuous improvement of the resolution of modern radar and other detection equipment, the echo signals of the target may be distributed in different distance resolution units, and its detection field is no longer equivalent to a point, that is, a single target may generate multiple measu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/41
CPCG01S7/41
Inventor 杨金龙李鹏葛洪伟袁运浩刘杨
Owner 嘉兴市新中软计算机系统工程有限公司