Predicted value based measurement conversion and sequential filtering maneuvering target tracking method

A technology of maneuvering target tracking and sequential filtering, which is applied in the field of Doppler radar tracking and radar target tracking, and can solve problems such as the inability to describe the state of target motion

Active Publication Date: 2018-11-27
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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AI Technical Summary

Problems solved by technology

[0005] When the target has maneuvering characteristics, the above algorithm cannot describe the motion state of the target by using a fixed system state equation

Method used

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  • Predicted value based measurement conversion and sequential filtering maneuvering target tracking method
  • Predicted value based measurement conversion and sequential filtering maneuvering target tracking method
  • Predicted value based measurement conversion and sequential filtering maneuvering target tracking method

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Embodiment Construction

[0120] In this implementation plan, it is considered to track a certain moving target in a maneuvering scene in a two-dimensional plane. The initial position of the target is (x=5000m, y=1000m), and the initial velocity is (v x =25m / s,v y =2m / s). The target moves at a constant speed from 0 to 60s, and moves at a uniform acceleration from 60s to 85s, with an acceleration of (-2m / s 2 ,2m / s 2 ), 85s~135s for uniform motion, 135s~150s for uniform acceleration, the acceleration is (3m / s 2 ,-0.5m / s 2 ), 150s ~ 200s to do uniform motion. The correlation coefficient between radial velocity and distance is 0.5. Take different values ​​for distance, azimuth, and standard deviation of Doppler measurement noise, and make the following scene settings:

[0121] Scenario 1: The distance measurement error of the sensor is The measurement error of the azimuth angle is degree, the measurement error of Doppler radial velocity is 0.1m / s;

[0122] Scenario 2: The distance measurement er...

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Abstract

The invention discloses a predicted value based measurement conversion and sequential filtering maneuvering target tracking method, relates to the field of radar target tracking, and mainly aims at the field of Doppler radar tracking under maneuvering target tracking. A predicted value based sequential filtering method is combined under the framework of an interactive multi-model algorithm to realize target tracking. The model probability is decided by both a position model probability and a Doppler model probability, and the model probability is estimated more accurately; and measurement conversion based on the predicted value can be used to eliminate the correlation between an error statistical characteristic and a measuring value of the measurement conversion error. The method can be used for maneuvering target tracking of Doppler measurement effectively at the same time.

Description

technical field [0001] The invention relates to the field of radar target tracking, and is mainly aimed at the field of Doppler radar tracking in the case of maneuvering target tracking. Background technique [0002] When the Kalman Filter (KF) algorithm is applied to target tracking, its state equation is usually used to describe the motion characteristics of the target, which is often established in a rectangular coordinate system, and its state vector is mainly composed of the target position, velocity and acceleration In the observation coordinate system, the measurement information of the target is usually expressed as the slant distance, azimuth angle and pitch angle. In most tracking scenarios, when the target and the observer are in different coordinate systems, a nonlinear relationship between the two results. In order to solve this kind of nonlinear filter estimation problem, the simplest method is to use the traditional conversion measurement method (Conventional...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/72
CPCG01S13/723
Inventor 程婷彭瀚苏洋陆晓莹魏雪娇
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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