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Cooperative target and non-cooperative target coexistence alternate Kalman space registering method

A non-cooperative target and cooperative target technology, applied in the field of multi-mobile platform sensor space registration, can solve problems such as poor estimation effect, and achieve the effects of high timeliness, high estimation accuracy and good timeliness

Active Publication Date: 2018-01-12
10TH RES INST OF CETC
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Problems solved by technology

When the sensor measurement noise is not negligible relative to the sensor system error, the above algorithm has poor estimation effect

Method used

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  • Cooperative target and non-cooperative target coexistence alternate Kalman space registering method
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  • Cooperative target and non-cooperative target coexistence alternate Kalman space registering method

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Embodiment Construction

[0014] refer to figure 1 . The implementation process of the Alternate Kalman space registration method for the coexistence of cooperative and non-cooperative targets is as follows. There are currently two mobile platforms 1 and 2, each carrying a sensor, called A and B, using the method proposed by the present invention to simultaneously perform spatial registration on the measurement data of the sensors A and B. According to the present invention, under the earth-centered earth-fixed coordinate system, according to the difference in the number of filter beats k, the initial value of the filter is assigned to the measurement system deviation vector and the filter estimation covariance of the sensors A and B at time k; The target information establishes the spatial registration measurement model of the measurement data of sensors A and B on different platforms, specifically including the construction of a measurement equation in which the cooperative target is only observed b...

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Abstract

The invention discloses a cooperative target and non-cooperative target coexistence alternate Kalman space registering method, aims to provide an alternate Kalman space registering method which is notinfluenced by Earth curvature and has high precision of estimation of sensor system deviation. According to the method, under an earth centered earth fixed coordinate system, filtering initial valuesare assigned to measurement system deviation vectors and filtering estimation covariances of two sensors arranged on two moving platforms; a space registering measurement model is established, including constructing a cooperative target which can be observed by only one sensor and a measurement equation which can be simultaneously observed by the two sensors, constructing a non-cooperation targetand a measurement equation which can be simultaneously observed by the two sensors; according to the measurement equation, alternate Kalman filtering of the information based on the cooperative target and the information based on the non-cooperative target is carried out continuously till deviation estimates of the sensor measurement system are acquired, the deviation estimates are further utilized to compensate sensor measurement data, and the whole space registering process is accomplished.

Description

technical field [0001] The invention relates to the field of sensor detection, and aims at a multi-mobile platform sensor space registration method for the problem of how to estimate sensor system errors in the case of non-cooperative targets. Especially the Alternate Kalman Space Registration method for the coexistence of cooperative and non-cooperative targets. Background technique [0002] Sensor system deviation registration is an important branch of information fusion technology. As the premise of target tracking, association and track fusion, it plays a very critical role in the entire fusion system. Sensor registration technology is a key part of multi-sensor data processing technology. The accuracy of sensor registration directly affects the tracking accuracy of the target. The purpose of space target tracking is to continuously provide real-time target movement status and provide basis for target identification, classification, cataloging and other strategic and t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S3/14
Inventor 乔文昇宋文彬
Owner 10TH RES INST OF CETC
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