A Maneuvering Target Tracking Method Based on Predicted Values ​​with Measurement Transformation and Sequential Filtering

Abstract

The invention discloses a measurement conversion sequential filtering maneuvering target tracking method based on a predicted value, which 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. The invention realizes target tracking in combination with a sequential filtering method based on predicted values ​​under the framework of an interactive multi-model algorithm. Among them, the model probability is jointly determined by the position model probability and the Doppler model probability, which improves the accuracy of the model probability estimation; at the same time, the measurement conversion based on the predicted value eliminates the gap between the statistical characteristics of the measurement conversion error and the measured value. relevance. This algorithm is an effective maneuvering target tracking algorithm that can process Doppler measurements simultaneously.

Description

A Predictive Value-Based Measurement-Transformation Sequential Filtering Method for Maneuvering Target Tracking technical field The present invention relates to the field of radar target tracking, mainly aiming at Doppler radar tracking under the situation of maneuvering target tracking field. Background technique [0002] When applying the Kalman Filter (KF) algorithm to target tracking, its state equation is usually used as a Describing the motion characteristics of the target, it is often established in the Cartesian coordinate system, and its state vector is mainly composed of the target position, velocity and It is composed of parameters such as acceleration; in the observation coordinate system, the measurement information of the target is usually expressed as slant range, azimuth angle and pitch angle. In most tracking scenarios, when the target and the observer are in different coordinate systems, the nonlinear relationship between the two is caused. for The...

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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

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