A tracking method for a moving frogman

Abstract

The present invention relates to a kind of tracking method of moving frogman, said method comprises: step 1) receiving the observation value of frogman state at tk+1 moment; Step 2) establishing the movement model set of multi-directional movement of frogman at tk moment; Step 3 ) Calculate the initial value of the frogman state estimation and the covariance estimation initial value of each motion model according to the motion model set at tk+1 moment; Step 4) estimate the initial value and the initial value of the frogman state of each motion model at tk+1 moment Input the initial value of covariance estimation into several filters, and calculate the frogman state estimation and covariance estimation of each motion model in combination with the observation value of frogman state at tk+1 moment; step 5) each movement The model’s frogman state estimation and its covariance estimate update the probability of each motion model at time tk+1; step 6) perform fusion estimation on the frogman state according to the updated probability of each motion model, and obtain the frogman state at tk+1 time Estimates of human states and their covariances. The method of the invention has the characteristics of high precision and strong 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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