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Maneuvering extended target tracking method based on unscented Kalman filter

An unscented Kalman and extended target technology, which is applied in the field of maneuvering extended target tracking based on unscented Kalman filtering, and can solve problems such as difficulty in tracking maneuvering extended targets.

Active Publication Date: 2017-02-22
HENAN UNIV OF SCI & TECH
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Problems solved by technology

[0004] However, due to the complexity of the real maneuvering process of the extended target, how to use an accurate mathematical model to accurately characterize the evolution process of the target's motion state and extended form, especially when the extended target machine is in motion, its measurement equation and motion equation are complex non-linear equations that make maneuvering extended target tracking difficult

Method used

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  • Maneuvering extended target tracking method based on unscented Kalman filter
  • Maneuvering extended target tracking method based on unscented Kalman filter
  • Maneuvering extended target tracking method based on unscented Kalman filter

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Embodiment Construction

[0039] As shown in the figure, a maneuvering extended target tracking method based on unscented Kalman filter includes the following steps:

[0040] Step 1. Initialize the extended target motion state and extended shape parameters;

[0041] Step 2, the process of establishing the form of the maneuvering extended target by using the support function according to the characteristics of the extended target range image measurement;

[0042] Step 3. According to the maneuvering characteristics of the extended target, use the support function to jointly model the motion state and the extended form of the extended target to accurately describe each maneuvering mode;

[0043] Step 4. Based on the combination of unscented Kalman filter and multi-model algorithm, the model set of the maneuvering extended target system is established, so as to realize the joint tracking of the moving state and the extended form of the maneuvering extended target.

[0044] Assume that the state vector of...

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Abstract

The invention discloses a maneuvering extended target tracking method based on unscented Kalman filter, and belongs to the field of radar maneuvering target tracking. The method comprises the steps that according to characteristics of high-resolution range profile measurement information and a maneuvering characteristic of an extended target, and by utilizing various maneuvering modes which support functions to precisely describe the extended target, and finally based on a combination of the unscented Kalman filter and a multiple model algorithm, joint tracking of motion states and extension forms of the extended target is achieved. According to the maneuvering extended target tracking method based on the unscented Kalman filter, high-resolution radar range profile measurement information can be fast and precisely utilized, and precise joint estimation is conducted on the motion states and the extension forms of the extended target. Engineering is easy to achieve, and the method has a strong engineering application value and a popularization prospect.

Description

technical field [0001] The invention belongs to the field of radar maneuvering extended target tracking, and relates to the joint estimation of the motion state and the extended form of the extended target, that is, the maneuvering extended target tracking method based on the unscented Kalman filter. Background technique [0002] With the continuous enhancement of the resolution of modern sensors, the target is no longer considered as a point source in some tracking scenarios, because in addition to basic motion measurement, high-resolution radar can also provide part of the characteristic information of the target. These feature information help to improve the accuracy of target tracking and recognition. [0003] For example, under the condition of a certain signal-to-noise ratio, by using high-range resolution radar to detect the target, the one-dimensional projection generated by the characteristic reflection of the target on the radar line of sight is the target range im...

Claims

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Application Information

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IPC IPC(8): G01S13/66
CPCG01S13/66
Inventor 孙力帆冀保峰张森普杰信
Owner HENAN UNIV OF SCI & TECH
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