A Maneuvering Target Tracking Technology Based on Two-layer Expectation Maximization

Abstract

The invention belongs to the technical field of target tracking, and discloses a maneuvering target tracking technology based on double-layer expectation maximization. The method comprises the steps that: firstly, N radar measurement vectors y<1><k> - y<N><k> of a maneuvering target are correspondingly obtained by real-time measurement of N radars, and the radar measurement vectors y include the distances from the maneuvering target to the radars, azimuth angles and change rates of the distances from the maneuvering target to the radars; secondly, a first layer expectation maximization algorithm is used on the N radar measurement vectors y<1><k> - y<N><k> to obtain an estimated set of maneuvering target state vectors x shown in the specification and an additive unknown interference pseudo measurement [theta] set shown in the specification, and the additive unknown interference pseudo measurement [theta] set is transmitted to a second layer expectation maximization algorithm; thirdly, after the second layer expectation maximization algorithm receives the additive unknown interference pseudo measurement [theta] set, mixed Gaussian distribution is utilized to fit first-order and second-order moment of the additive unknown interference pseudo measurement [theta] set, and the mean value [mu]<[theta]><k> and the covariance p<[theta]><k> of the additive unknown interference pseudo measurement [theta] set are obtained; and fourthly, by means of kalman filtering, the mean value [mu]<[theta]><k> and the covariance p<[theta]><k> of the additive unknown interference pseudo measurement [theta] set are utilized to obtain a state estimated value shown in the specification. By adopting the technology, the analyticity and convergence of parameter identification are ensured, and the technology is capable of improving the precision of target state estimation.

Description

technical field [0001] The invention belongs to the technical field of target tracking, in particular to a maneuvering target tracking technology based on double-layer expectation maximization. Background technique [0002] Target tracking occupies an important position in the military field, and only reliable and accurate tracking can effectively strike the target. With the development of the national defense and military field, the maneuverability of fighter jets has been greatly improved. The mobility of the target increases the difficulty of target tracking, which is mainly manifested in the modeling error of the mathematical model caused by the uncertainty of the target maneuvering state. The modeling error can be expressed as an additive unknown disturbance and is usually related to the state. In this context, how to improve the state tracking accuracy of maneuvering targets has become an increasingly important issue, so there is an urgent need to study a tracking fil...

Images