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A Distributed Cooperative Target Tracking Method under Communication Topology Switching

A technology of target tracking and communication topology, applied in the field of target tracking, can solve problems affecting the accuracy of cooperative target tracking, target loss, etc., and achieve the effect of improving robustness, anti-jamming ability, and improving accuracy

Active Publication Date: 2020-10-09
湖南湘科浩宇科技有限公司
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

The existence of switched topologies can greatly affect the accuracy of cooperative target tracking, and even lead to target loss

Method used

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  • A Distributed Cooperative Target Tracking Method under Communication Topology Switching
  • A Distributed Cooperative Target Tracking Method under Communication Topology Switching
  • A Distributed Cooperative Target Tracking Method under Communication Topology Switching

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Embodiment Construction

[0092] A distributed cooperative target tracking method under communication topology switching, which consists of multiple tracking motion platforms and a motion platform system with a communication topology structure simultaneously tracks the same target, and each motion platform utilizes the target information sensitive to its own sensors The unscented Kalman filter carries out the target tracking estimation of this platform, obtains the target tracking estimation result of this platform, and described unscented Kalman filter is the unscented Kalman filter based on residual error test, and described method step comprises:

[0093] Step 1: Each platform calculates the local target tracking estimation results of the platform based on its own observation information;

[0094] Step 2: Each platform transmits the target tracking estimation result of the platform to the neighbor platform, and accepts the target tracking estimation result of the neighbor platform at the same time, a...

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Abstract

The invention discloses a distributed cooperative target tracking method under communication topology switching, wherein a communication topology structure is formed by a plurality of tracking motionplatforms, and the same target is tracked at the same time; each motion platform performs target tracking estimation on the platform by using unscented Kalman filter based on residual error detectionaccording to target information sensed by a sensor per se, so as to obtain a target tracking estimation result of the platform. The invention solves the problems of larger communication traffic, higher requirement on the computing capability of a fusion center and insufficient system robustness in the traditional centralized multi-platform target tracking and positioning algorithm, and effectivelyexpands the application range and the adaptive capability of the algorithm by introducing an online adaptive algorithm module into a filtering algorithm.

Description

technical field [0001] The invention relates to the field of target tracking, in particular to a distributed collaborative target tracking method under communication topology switching. Background technique [0002] Target tracking refers to the use of raw observation data provided by sensors (radar, sonar, infrared, television, etc.) to estimate the motion state parameters of the target, such as position, speed and other information. In a complex battlefield environment, timely, accurate, and reliable tracking of enemy targets at as far away as possible can provide more warning time and accurate target track estimation for the command and control system, so as to achieve effective strike and interception. At present, with the emergence of combat theories and combat forms such as information warfare and joint operations, the timely acquisition and perception of battlefield information has become one of the key factors that determine the outcome of both sides. However, with ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 梁源徐兵
Owner 湖南湘科浩宇科技有限公司