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An intelligent IMM Kalman filter feedforward compensation target tracking method and system

A technology of Kalman filter and Kalman filter, applied in image analysis, instrumentation, calculation, etc., can solve problems such as not being able to adapt to flight characteristics

Active Publication Date: 2020-05-19
XI'AN INST OF OPTICS & FINE MECHANICS - CHINESE ACAD OF SCI +2
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Problems solved by technology

A single motion model cannot adapt to the flight characteristics of all targets

Method used

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  • An intelligent IMM Kalman filter feedforward compensation target tracking method and system
  • An intelligent IMM Kalman filter feedforward compensation target tracking method and system
  • An intelligent IMM Kalman filter feedforward compensation target tracking method and system

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Embodiment Construction

[0081] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0082] from image 3 It can be seen from the figure that the system of the present invention mainly includes a tracking turntable, a turntable load and an electronic box; the tracking turntable includes an azimuth and pitch adjustment device, and the azimuth axis is fixedly connected with the azimuth U-shaped frame, which can drive the azimuth U-shaped frame to rotate around the azimuth axis; the pitch axis The two ends are fixed on the two side walls of the azimuth U-shaped frame, the load assembly is fixed on the pitch axis, and the rotation of the pitch axis can drive the rotation of the load assembly; the tracking camera, zoom lens and laser range finder are located in the load assembly As above; the azimuth and pitch adjustment device also includes a motor and an encoder corresponding to the azimuth axis and the pitch axis. The tracking t...

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Abstract

The invention belongs to the technical field of photoelectric tracking, precision measurement, navigation and location and particularly relates to a target tracking method based on intelligent IMM Kalman filter feedforward compensation and a system. A neural network intelligent target recognizer recognizes the type of a tracked target, state equation parameters of online operation of an improved intelligent IMM Kalman filter are adjusted, so that the filter is endowed with an adaptive characteristic, an online operating state model equation is matched with the tracked target, multiple filtersbased on different models are used for parallel work, speed and acceleration of the maneuvering target are estimated in real time accurately, estimation accuracy higher than that of traditional filtering is obtained, and a feedforward compensation controller constructed on the basis can obtain higher feedforward compensation precision and control performance.

Description

technical field [0001] The invention belongs to the technical field of photoelectric tracking and precision measurement, navigation and positioning, and relates to a method and system for tracking a target using intelligent IMM Kalman filter feedforward compensation. Background technique [0002] As the counter-terrorism and security situation changes, air threats have become an aspect that must be guarded against. The air threats faced by urban air security are often the so-called "low, slow and small" targets, which are difficult to detect by radar. Fixed-wing targets can fly at speeds up to 30-50m / s, with high angular velocity and maneuvering. Since it is necessary to measure the distance of the flying target in real time to obtain the accurate distance and three-dimensional coordinate information of the target, a high requirement is put forward for the tracking accuracy of the photoelectric tracking system. In this case, compound control is generally used to improve the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/277
CPCG06T7/277
Inventor 林俤徐峰吴易明朱帆魏轶婷
Owner XI'AN INST OF OPTICS & FINE MECHANICS - CHINESE ACAD OF SCI
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