Multi-sensor TDOA passive positioning method based on GLMB filtering

A passive positioning, multi-sensor technology, applied in positioning, instruments, radio wave measurement systems, etc., can solve problems such as lack of prior knowledge of the tracking environment, inability to determine the number of targets, and inability to determine whether the observation data is a real target or a false one.

Inactive Publication Date: 2017-08-29
HANGZHOU DIANZI UNIV
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Problems solved by technology

Due to the inevitable existence of environmental noise and measurement errors in the observation data, and the lack of prior knowledge of the tracking environment, the number

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  • Multi-sensor TDOA passive positioning method based on GLMB filtering
  • Multi-sensor TDOA passive positioning method based on GLMB filtering
  • Multi-sensor TDOA passive positioning method based on GLMB filtering

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Embodiment Construction

[0099] The present invention will be further described below in conjunction with accompanying drawing.

[0100] The present invention provides a multi-sensor multi-target joint positioning and tracking method for a static sensor platform, and its specific implementation is as follows:

[0101]1) In the two-dimensional plane tracking area of ​​[0,100]×[0,100]㎡, place three pairs of sensors at fixed positions, and perform positioning and tracking on two targets moving in a straight line at a uniform speed in the tracking area. The positions of the three pairs of sensors are respectively : (100m, 95m) and (95m, 100m), (5m, 100m) and (0m, 95m), and (0m, 5m) and (5m, 0m), target 1 appears when k=0s, when k= Disappeared in the tracking area at 80s, the initial state is x 1 =[100m,-1m / s,0m,1m / s] T , the target 2 appears when k=20s, disappears in the tracking area when k=100s, and the initial state is x 2 =[90m, -1m / s, 5m, 1m / s] T ,Such as figure 1 shown.

[0102] 2) Obtain the ...

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Abstract

The invention relates to a multi-sensor TDOA passive positioning method based on GLMB filtering. In the prior art, ambient noises and measuring errors exist in observation data unavoidably, the prior art lacks prior knowledge of a tracking environment, the number of objects cannot be determined, whether the observation data is generated by a real or false object cannot be determined, and the real object that generates the observation data cannot be determined. Multiple pairs of sensors obtain time difference that the objects in the tracking area arrive at the sensor pairs, a multi-object observation model in an RFS framework is established, a GLMB filtering algorithm is selected in a multi-sensor multi-object positioning tracking system after the objects are measured, and positioning tracking for states and tracks of the multiple objects are realized.

Description

technical field [0001] The invention belongs to the field of multi-sensor multi-target tracking, in particular to a multi-sensor platform-based multi-target positioning and tracking method. Background technique [0002] The passive positioning system completely passively receives the electromagnetic waves emitted by the target for positioning and tracking. It has the characteristics of good concealment and strong survivability. The state estimation problem is nonlinear, and the estimation becomes less optimistic when the distance is farther. These characteristics determine that multiple pairs of sensors should be selected to track and locate multiple targets, which is also the realistic basis of the present invention. For the positioning of multiple targets, preprocessing is required, mainly to merge the measurement data of different targets, so that the measurement data of the same target can be put together for positioning calculation. Preprocessing mainly includes signal...

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Application Information

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IPC IPC(8): G01S5/16
CPCG01S5/16
Inventor 王煦东刘伟峰陈一梅
Owner HANGZHOU DIANZI UNIV
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