State fusion target tracking method based on predicted value measurement conversion

A technology for measurement conversion and target tracking, which is used in measurement devices, radio wave measurement systems, and radio wave reflection/re-radiation. It can solve problems such as biased state estimation and Kalman gain dependence.
CN106950562AActive Publication Date: 2017-07-14UNIV OF ELECTRONICS SCI & TECH OF CHINA
5 Cites 26 Cited by

Patent Information

Authority / Receiving Office
CN Β· China
Current Assignee / Owner
UNIV OF ELECTRONICS SCI & TECH OF CHINA
Publication Date
2017-07-14

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses a target tracking method based on measurement conversion Kalman filtering state fusion, which belongs to the field of radar target tracking, and particularly relates to a statistical property calculation method utilizing Doppler radar measurement conversion errors. The state fusion target tracking method comprises the steps of: calculating statistical properties of converted measurement errors based on a predicted value measurement conversion method, regarding a position predicted value in a rectangular coordinate system as a condition to obtain a mean value and a covariance of the converted measurement errors, and eliminating correlation between the covariance of the converted measurement errors and measurement errors; and then performing state estimation on a position and Doppler measurement, and finally using a least mean square error criterion to fuse estimation results of the position and Doppler measurement, so as to obtain a final state estimation. The tracking method can be further extended to CV and CA motion models of a 3D radar.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention belongs to the field of radar target tracking, in particular to a method for calculating the statistical characteristics of measurement conversion errors using Doppler radar. Background technique

[0002] At present, in the target tracking system, the state equation of the target is generally established in the Cartesian coordinate system, and the measured values ​​are generally obtained in the polar coordinate system. In this way, object tracking becomes a nonlinear estimation problem. A common method to solve this problem is the conversion measurement Kalman filter (CMKF) algorithm, which uses the conversion measurement method to express the measurement transformation in polar coordinates into the measurement in the rectangular coordinate system, so that target tracking becomes a Linear Estimation Problem. However, the traditional conversion measurement method will produce deviations when converting the measurement (see literature: Le...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More