Tracking method of diver

Abstract

The invention relates to a tracking method of a diver. The method includes the following steps that: step 1) the observation value of the state of the diver at a tk+1 time point is received; step 2) a movement model set of the multi-direction movement of the diver at a tk time point is established; step 3) the diver state estimation initial value and covariance estimation initial value of each movement model at the tk+1 time point are calculated according to the movement model set; step 4) the diver state estimation initial value and covariance estimation initial value of each movement model at the tk+1 time point are inputted into a plurality of filters, and the diver state estimation and covariance estimation of each movement model are calculated based on the observation value of the state of the diver at the tk+1 time point; step 5) the probability of each movement model at the tk+1 time point is updated according to the diver state estimation and covariance estimation of each movement model at the tk+1 time point; and 6) fusion estimation is performed on the states of the diver according to the updated probability of each movement model, so that the estimation of the state of the diver and the estimation of the covariance of the state of the diver at the tk+1 time point can be realized. The method of the invention has the advantages of high precision and high stability.

Description

technical field [0001] The invention belongs to a target state estimation method, in particular to a tracking method for a moving frogman. Background technique [0002] During the Cold War, countries were on war alert, and the objects of maritime detection and defense were mainly large targets such as ships and submarines of hostile countries. With the end of the Cold War, especially after the disintegration of the former Soviet Union, underwater diving technology developed rapidly, and the frogman troops came into being. The so-called divers are soldiers who are responsible for underwater reconnaissance, blasting and performing special combat tasks. , because the equipment they carry has swimming tools in the shape of frog feet, so they are called "frogmen". Due to the weak target scattering intensity of frogmen and the significant "asymmetrical" advantages of frogmen's destructive activities, at present, using frogmen to carry out terrorist attacks has become an important...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings of low tracking accuracy and poor stability in the existing frogman tracking method, and utilize the motion characteristics of "low motion speed and high direction change rate" of the underwater frogman to propose a new method for the frogman. A tracking method based on interactive fusion of multi-motion direction models for specific targets to achieve higher precision and more stable estimation of frogman target states

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