A state estimation method and system for a turning maneuvering target in three-dimensional space
A three-dimensional space, maneuvering target technology, applied in navigation computing tools, navigation, instruments, etc., can solve the problem that it is difficult to effectively estimate the state of a turning maneuvering target, and achieve the effect of a simple method
Inactive Publication Date: 2019-10-11
SHENZHEN UNIV
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[0003] The present invention provides a method and system for estimating the state of a turning maneuvering target in a three-dimensional space, aiming to solve the problem that it is difficult to effectively estimate the state of a turning maneuvering target in the prior art
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[0018] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0019] As the first embodiment of the present invention, such as figure 1 As shown, the present invention provides a method for estimating the state of a turning maneuvering target in three-dimensional space, the method comprising steps S101-S104:
[0020] Step S101: Use the position measurement data at three different times to determine the target motion plane, calculate the angle between the target motion plane and the xoy plane, and calculate the intersection line between the target motion plane and the xoy plane The angle between the line and the x-axis and the point of intersection of the int...
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The invention belongs to the technical field of multi-sensor information fusion, and especially relates to a three-dimensional space turning maneuvering target state estimation method, and a system. According to the three-dimensional space turning maneuvering target state estimation method, position measuring data of three different time points are adopted to obtain a coordinate transformation matrix, the coordinate transformation matrix is adopted for transformation of measuring of the three positions onto an xoy plane, then transformed position measuring data is adopted to estimate target turning rate estimation values and transformed target state estimations, the coordinate transformation matrix is adopted for inverse transformation of transformed target state estimations, and at last,effective estimation of the three-dimensional space turning maneuvering target states is realized. The three-dimensional space turning maneuvering target state estimation method is simple, and efficiency is high.
Description
technical field [0001] The invention belongs to the technical field of multi-sensor information fusion, and in particular relates to a state estimation method and system for a turning maneuvering target in three-dimensional space. Background technique [0002] Target tracking usually requires the sensor to estimate the initial state of the target based on the measurement data at the first few moments, so as to start a new target trajectory. However, the existing initial state estimation methods are only suitable for uniformly moving targets and uniformly accelerating targets, as well as turning maneuvering targets in two-dimensional space, but not for turning maneuvering targets in three-dimensional space. Contents of the invention [0003] The present invention provides a method and system for estimating the state of a turning maneuvering target in a three-dimensional space, aiming at solving the problem in the prior art that it is difficult to effectively estimate the st...
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IPC IPC(8): G01C21/00G01C21/20
Inventor 刘宗香黄炳坚李良群
Owner SHENZHEN UNIV