Extended target tracking method based on GP-VSMM-JPDA

A GP-VSMM-JPDA, extended target technology, applied in radio wave measurement systems, instruments, etc., can solve the problems of decreased tracking performance, low accuracy of extended target contour estimation, and difficulty in fully characterizing actual moving bodies.

Active Publication Date: 2019-04-16
河北凯通信息技术服务有限公司
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Problems solved by technology

The traditional extended target tracking algorithm usually assumes that the target moves approximately in a straight line. However, in actual situations, the target (such as a fighter) often flies in a strong maneuvering manner, which makes the tracking performance of the traditional extended target tracking method decrease.
[0003] The Interacting Multiple-Model Random Matric (IMM-RM) maneuvering extended target tracking method based on random matrix can use multiple different motion models to match different motion patterns of maneuvering targets, but this method can only describe elliptical targets , it is difficult to completely describe the actual moving body with rich shapes, such as aircraft, ships, etc., and the estimation accuracy of the outline of the extended target is not high

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  • Extended target tracking method based on GP-VSMM-JPDA
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  • Extended target tracking method based on GP-VSMM-JPDA

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Embodiment Construction

[0016] The present invention will be further described below.

[0017] figure 1 Be the flowchart of the present invention, concrete implementation steps are as follows:

[0018] Step (1): Assuming that there are N extended targets within the radar detection range, the model set at time k There are r motion models in . If the extended target n(n∈Γ N ) in (k,k+1] time period, the model valid, use Represents the extended target n at time k, the model for effectively modeling such a random event. Γ N Represents the set of natural numbers from 1 to N.

[0019] Under the Gaussian process, expand the state of the target n at time k Contains motion state X k and the contour state two parts. Define motion state where [x k ,y k ] T and Respectively, the position and velocity of the extended target center point, φ k and Respectively, the heading angle and heading angular velocity of the extended target n; the contour state where θ i and f k (θ i ) are res...

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Abstract

The invention provides an extended target tracking method based on GP-VSMM-JPDA. The method is characterized by firstly, using an expected model expansion method to construct an adaptive model set, and initializing an extended target state based on a model; secondly, establishing an extended target combined tracking gate based on a Gaussian process to select effective measurement; then, combiningthe Gaussian process with a combined data correlation filter to form a new filter so as to update the states and the covariances of each extended target under different models; and finally, based on avariable structure interactive multi-model method, fusing the state and covariance of each extended target to obtain final state estimation. Compared with an interactive multi-model (IMM-RM) maneuvering extended target tracking method based on a random matrix, a GP-VSMM-JPDA method can be used to track multiple maneuvering non-elliptic models simultaneously in a clutter environment and can be used to accurately estimate a target shape so as to provide more target information.

Description

technical field [0001] The invention belongs to the field of target detection and tracking, and relates to an extended target tracking method based on GP-VSMM-JPDA (Gaussian Process Variable Structure Multiple Model Joint Probability Data Association, namely Gaussian Process Variable Structure Multiple Model Joint Probability Data Association). Background technique [0002] Extended Target Tracking (ETT) technology means that with the continuous improvement of radar sensor resolution, multiple measurements can be provided for multiple observation points on moving targets. The target occupies multiple resolution units in radar range and azimuth. Its size cannot be ignored. Through multiple measurements received by high-resolution sensors, the shape and motion state of the extended target can be tracked and estimated simultaneously. Therefore, extended target tracking technology has attracted great attention from scholars at home and abroad. Traditional extended target track...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/41
CPCG01S7/415
Inventor 郭云飞任昕李勇薛安克郭宝峰
Owner 河北凯通信息技术服务有限公司
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