Radar target tracking method with Doppler observation in spherical coordinate system
A technology of radar target tracking and spherical coordinate system, which is applied in the field of radar target tracking and can solve problems such as biased measurement conversion
Active Publication Date: 2016-09-21
HARBIN INST OF TECH
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However, the measurement conversion used in this document is biased and discussed in the two-dimensional polar coordinate system
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[0014] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. The illustrated embodiments are exemplary only, and do not limit the invention. In the description made, various embodiments may refer to each other.
[0015] Before stating the steps of the present invention, the basic mathematical model of target tracking with Doppler measurement in the spherical coordinate system is introduced.
[0016] The target tracking model with Doppler measurements is expressed in a discrete-time state equation in Cartesian coordinates as
[0017] X(k+1)=ΦX(k)+ΓV(k) (40)
[0018] in, is the target motion state, x(k), y(k) and z(k) are the three position components of the target in the x, y and z directions respectively, and is the corresponding velocity component, Φ, Γ are the state transition matrix and process noise gain matrix, respectively, V(k) is the Gaussian process noise with mean value 0 and variance Q(k).
[0...
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The invention relates to a radar target tracking method with Doppler observation in a spherical coordinate system. The method comprises a pseudo measurement construction step in which a product of distance measurement rm(k) and Doppler measurement r'm(k) obtained by a radar at present time k is used to construct pseudo measurement (transform Doppler); a measurement transformation step in which measurement in the spherical coordinate system is transformed to a rectangular coordinate system; an unbiased first-second moment calculation step in which an unbiased first-second moment of a transformation position measurement error and an unbiased first-second moment of a transformation Doppler measurement error are calculated; a pseudo state space construction and pseudo information extraction, via CDMKF, step in which a transform Doppler eta(k) at present time and a derivation eta'(k) are used to construct a pseudo state space, and pseudo state information is extracted; a Cartesian state information step in which target Cartesian state information is extracted; and a static fusion step in which the pseudo state information in the pseudo state information extraction step is fused with the Cartesian state information extracted in the Cartesian state information step.
Description
technical field [0001] The invention relates to radar target tracking, in particular to a radar target tracking method with Doppler observation in a spherical coordinate system. Background technique [0002] In the field of target tracking, the target dynamic model is usually modeled in the Cartesian coordinate system, but the measurement is generally obtained in the polar coordinate system, so that target tracking becomes a nonlinear estimation problem. A common method to solve this problem is the conversion measurement Kalman filter, that is, the sensor measurement is first expressed as a pseudo-linear form of measurement in the Cartesian coordinate system through coordinate transformation, and then the first two parameters of the conversion measurement error are estimated. Moment and target tracking based on Kalman filter. This method has been extensively studied, and the difference is only in the conversion measurement error bias and covariance calculation method, but t...
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IPC IPC(8): G01S13/72
CPCG01S13/723
Inventor 周共健郭正琨许荣庆
Owner HARBIN INST OF TECH