A multi-base fusion tracking method for underwater small targets

Abstract

The invention provides an underwater small object multi-base fusion tracking method. The method includes a step 1 of resampling an object measurement set Zk of a multi-base system at a tk moment and obtaining a resampling random particle set; through quantization and fusion treatment of distribution of the resampling random particles, obtaining equivalent measurement zk at the tk moment; a step 2 of estimating the small object state at the tk moment through mixed particle filtering, wherein the mixed particles includes predication particles which are random particles at the tk moment obtained through predication with random particles at the tk-1 moment and target volume measurement sampling particles obtained through measurement according to the random sampling according to the equivalent measurement zk and prior probability distribution; and resampling the mixed particles; a step 3 of making k=k+1 and turning to the step 1 until object tracking is finished. By adopting the method provided by the invention, tracking precision of multi-base underwater small objects is improved.

Description

technical field [0001] The invention relates to the technical field of tracking small underwater targets, in particular to a multi-base fusion tracking method for small underwater targets. 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, the miniaturization of underwater weapons and equipment has developed rapidly, and the technical equipment such as frogmen, underwater vehicles and underwater robots has become increasingly mature. The attack method with obvious "asymmetrical" advantage is quite favored by terrorists, and has become an important way for terrorists to carry out terrorist activities. At present, the monitoring of large-scale waters, such as protection of islands and reefs, and protection of anchorage areas in ha...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the interference problem of false measurement existing in multi-base measurement to target measurement fusion, and to overcome the problem that existing random particles may deviate from the real position of the target in the process of multi-base traditional particle filter in the state estimation process of underwater small targets. problem, a multi-base fusion tracking method for underwater small targets is proposed. The method first performs t k The target measurement set Z of the time-to-time multistatic system k The equivalent measurement is obtained by processing; then use t k-1 random particle prediction at time t k On the basis of the random particles at time, the equivalent measurement value is further randomly sampled to obtain the sampled particles, and the predicted particles and sampled particles are fused to obtain the state estimation value of the target, thus improving the multi-base underwater small target tracking accuracy

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