A Distributed Multi-Platform Cooperative Active Target Tracking Method
A target tracking, multi-platform technology, applied in the field of distributed multi-platform cooperative active target tracking, can solve problems such as the difficulty of a priori determination of Markov transition probability matrix, and achieves avoiding difficulties in prior determination, strong stability and adaptability, The effect of improving accuracy
Active Publication Date: 2021-04-20
湖南湘科浩宇科技有限公司
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[0004] The present invention proposes a distributed multi-platform collaborative active target tracking method, which avoids the problem of difficult a priori determination of the Markov transition probability matrix in the conventional IMM algorithm by improving the adaptive interactive multiple model (Adaptive Interacting Multiple Model, AIMM) algorithm , which improves the model switching speed and tracking accuracy, and improves the accuracy of active target tracking
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[0043] A distributed multi-platform cooperative active target tracking method, including a plurality of active rotating detection platforms arranged in a distributed manner, the plurality of detection platforms detect and track the same target; the plurality of detection platforms interact adjacently with topology information; the target Tracking methods include:
[0044] Step 1: Each detection platform uses the AIMM algorithm + EKF algorithm to independently perform the target tracking estimation of the platform according to the target information received by itself, and obtain the target tracking estimation result of the platform;
[0045] Step 2: Each detection platform transmits the target tracking and estimation results of this platform to the interactive platform according to the consistency rule, and receives the target tracking and estimation results of the interactive platform at the same time;
[0046] Step 3: Fuse the target tracking estimation result of the receivi...
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The invention discloses a distributed multi-platform cooperative active target tracking method. The target tracking method includes: each detection platform uses AIMM algorithm + EKF algorithm to independently perform target tracking estimation of the platform according to the target information received by itself, and obtain the target tracking estimation result of the platform; The platform transmits the target tracking estimation result of the platform, and simultaneously receives the target tracking estimation result of the interactive platform; the present invention solves the problem that in the traditional centralized multi-platform active target tracking and positioning algorithm, the communication volume is relatively large, and the computing power of the fusion center is limited. For the problem of high requirements and insufficient system robustness, the online adaptive algorithm module is introduced into the algorithm, which effectively expands the scope of application and adaptability of the algorithm, and improves the accuracy of active target tracking and positioning.
Description
technical field [0001] The invention relates to the field of target tracking and positioning, in particular to a distributed multi-platform cooperative active target tracking method. Background technique [0002] Target tracking technology refers to the use of various measurement tools and data processing techniques to achieve accurate estimation of the target state. Active tracking refers to the continuous detection and tracking of targets using detection equipment that can emit signals (such as radar, etc.). Active detection has high tracking accuracy for targets and comprehensive information acquisition. It is the preferred target tracking method. However, since there must be interference noise in the data output by the measurement tool, it is necessary to use data processing technology to reduce the influence of interference noise and obtain the estimated state of the target. Through cooperation between multiple platforms to track the same target, the tracking accuracy ...
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IPC IPC(8): G01S13/72G01S7/02
Inventor 梁源徐兵
Owner 湖南湘科浩宇科技有限公司