Asynchronous Track Fusion Algorithm of Maneuvering Target with Feedback Based on Pseudo-measurement

A technology of maneuvering target and track fusion, which is applied in the fields of maneuvering target tracking, asynchronous track fusion and information feedback, can solve the problems of high sensor requirements and difficult to apply in practice, and achieves the effect of excellent tracking accuracy

Active Publication Date: 2021-07-16
CHINESE AERONAUTICAL RADIO ELECTRONICS RES INST
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Problems solved by technology

The above work requires a high frequency ratio between sensors, which is difficult to apply in practice.

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  • Asynchronous Track Fusion Algorithm of Maneuvering Target with Feedback Based on Pseudo-measurement
  • Asynchronous Track Fusion Algorithm of Maneuvering Target with Feedback Based on Pseudo-measurement
  • Asynchronous Track Fusion Algorithm of Maneuvering Target with Feedback Based on Pseudo-measurement

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Embodiment Construction

[0027] In the distributed fusion infrastructure, the sensors independently filter to generate local tracks, and the fusion center performs fusion after obtaining the tracks. According to whether the fusion center uses the fusion result of the previous fusion time and whether the fusion center feeds back data to the sensor end, the distributed The formula fusion structure is divided into four types: no track memory and no feedback, no track memory and feedback, track memory and no feedback, and track memory and feedback. The essence is to use the previous moment The fusion track information of the sensor can improve the fusion accuracy, and the use of the fusion structure with feedback information can improve the local track accuracy of the sensor. The present invention improves the overall accuracy of the algorithm by introducing a fusion structure with feedback, so that it can achieve better results in multi-sensor maneuvering target tracking. The central filter obtains the m...

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Abstract

The invention discloses a pseudo-measurement-based asynchronous track fusion algorithm for maneuvering targets with feedback. First, the model set is input and interacted with, and the initial filter values ​​of each model are calculated according to the model probability and model transition probability; then, the fusion center is based on the Kalman The filtering algorithm calculates the one-step prediction value. After obtaining the new sensor measurement information in the filtering period, it is arranged in the order of the time axis and recursively advanced to the fusion time. Information such as sensor observation matrix, noise, and model prediction is added to it, and asynchronous navigation is performed. Trace fusion; after that, perform secondary filtering to calculate the model output, and perform output interaction at the fusion center to obtain the estimated value of the fusion center and the estimated error matrix, and feed back to the sensor that meets the feedback conditions. The invention improves the overall accuracy of the algorithm by introducing a fusion structure with feedback, so that it can achieve better results in multi-sensor maneuvering target tracking.

Description

technical field [0001] The invention relates to a pseudo-measurement-based asynchronous track fusion algorithm of a maneuvering target with feedback in a multi-sensor detection system, and relates to the fields of maneuvering target tracking, asynchronous track fusion, information feedback and the like. Background technique [0002] Object tracking refers to the processing of measurements from an object in order to maintain an estimate of the object's current state. Under the current technical conditions, measurement information can be obtained through various detection methods such as radar, infrared, and visible light. However, due to the objective influence of the sensor's own technology, design principles, and detection environment, the measurement information often contains a large amount of random noise. The target tracking technology eliminates the influence of random noise through the prior model information of the filter, and the ultimate goal is to obtain a more ac...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/10
CPCG16Z99/00
Inventor 黄大羽蔡云泽吴建民刘博
Owner CHINESE AERONAUTICAL RADIO ELECTRONICS RES INST
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