Probability hypothesis density filtering radar spatial error registering method under ECEF (earth-centered Earth-fixed coordinate) coordinate system

Abstract

The present invention discloses a probability hypothesis density filtering radar spatial error registering method under an ECEF (earth-centered Earth-fixed coordinate) coordinate system. According to the method, the observation data of a target in two observation radars are transformed to rectangular coordinate systems with the radars adopted as centers respectively; the data are transformed to the ECEF coordinate system, so that the common-observation relationship of the target between the two radars is built; on the basis of the common-observation relationship, a radar system error observation equation and a state equation under the ECEF coordinate system are established; a probability hypothesis density filter is used to perform fusion estimation on radar system errors under the ECEF coordinate system; and therefore, spatial error registration of the two radars is realized. The method of the invention has the advantages of no need for data association processing, high estimation accuracy, good estimation performance and the like.

Description

technical field [0001] The invention belongs to the technical field of sensor error registration, in particular to a probability assumption density filter radar system error fusion estimation method under the ECEF coordinate system. Background technique [0002] The spatial error of radar observation is mainly divided into two types: random error and systematic error. Random error can be eliminated by filtering method; while systematic error is a kind of deterministic error, which cannot be eliminated by filtering method and needs to be estimated to compensate for radar observation. , this process is called radar spatial error registration. In multi-radar fusion tracking systems, radar spatial error registration has become a prerequisite for multi-radar fusion processing. [0003] The existing radar spatial error registration methods generally use the common target in the overlapping observation area of ​​two radars to estimate the radar system error, which can be mainly su...

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Problems solved by technology

Lian and Li respectively proposed a radar system error estimation method based on the PHD filter of the extended state vector to estimate the motion state and system error of the target at the same time. However, due to the coupling between the system error and the target state, the effect is not ideal in the case of a large number of targets.

But so far, no report has been found on the probability assumption density filter radar spatial error registration method for the decoupling of the system error and the target state in the ECEF coordinate system

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