High maneuvering target tracking method and system based on LS and NEU-ECEF space-time registration

A high-mobility target and space tracking technology, applied in the field of communication, can solve problems such as complex calculations, large registration errors, and huge computing overhead

Active Publication Date: 2019-08-30
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
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Problems solved by technology

For example, the interpolation and extrapolation method has a large registration error when the target is in a complex (such as high maneuvering) motion state, because the assumed motion model is too simple; the Lagrangian interpolation function is a polynomial function, and if the polynomial degree is too high, it will cause The function is unstable, which leads to large registration errors and complicated calculations; the original least squares virtual method has special requirements for the registration period, and the ratio of the sampling period is required to be an integer
[0009] For the spatial calibration problem, the main method is to perform matrix operations according to the conversion relationship between the NEU coordinate system and the ECEF coordinate system, so when the amount of data is too large, it will cause huge computing overhead

Method used

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  • High maneuvering target tracking method and system based on LS and NEU-ECEF space-time registration

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Embodiment 1

[0091]In this specific embodiment, an infrared sensor and an active radar are used as examples for illustration. For the detection and tracking of highly maneuverable targets, active radar provides complete position and state information of the target as an active sensor, and infrared passive detection of target angle information. Active radar and infrared are used together to build a multi-source tracking and detection method that is independent and complementary to each other. Different multi-sensor cooperative working modes reflect that the target mostly runs in a highly maneuverable attitude, and it is difficult to describe the actual target motion state from different dimensions with any single target motion model. A target motion model is used, and the state estimation of each model is weighted by a certain probability for fusion. Different from the traditional multi-sensor probabilistic data interconnection (MSPDAF) algorithm, which is only aimed at the fusion of radar ...

Embodiment 2

[0154] The application of the present invention is extended to three-dimensional space.

[0155] In the case that 3-D radar only provides distance and azimuth angle information and the accuracy of angle measurement is limited, infrared can be used to provide accurate azimuth and elevation data to supplement the lack of radar detection angle information. The data set of this embodiment is measured data, which is obtained by using three-dimensional radar and infrared sensors. For a constant velocity motion model, the X, Y, and Z axis velocity power spectral densities S w =1m 2 / s, sampling interval T=1. For the constant speed model, speed Ω=(π / 18)rad / s, X, Y and Z axis acceleration power spectral density S w =1m 2 / s 3 , the sampling interval T=1s. Figure 8 Actual and fused trajectories of the target are shown. Note that in both cases of motion (constant speed and constant speed) the trajectory is perfectly tracked. Models 1 and 2 are the uniform motion model and the co...

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Abstract

The invention provides a high maneuvering target tracking method and system based on LS and NEU-ECEF space-time registration, and belongs to the technical field of communication. The time is registered by using an improved least squares (LS) virtual fusion method, and it is not required that a ratio of sampling periods is an integer; and then, for a coordinate system conversion relationship of space registration, an algebraic operation of an original matrix is converted into a geometric operation to improve the operation efficiency while reducing the operation cost. In addition, an IMM algorithm is designed as two motion models and is combined with an MSPDAF algorithm to form a high maneuvering target applicable to tracking different dimensions. By adopting the high maneuvering target tracking method and system provided by the invention, the problem that the operation cost is large when the data size is too large in the prior art is solved.

Description

technical field [0001] The invention belongs to the field of communication technology, in particular to the field of heterogeneous sensor fusion technology, and specifically relates to a high-mobility target tracking method and system based on LS and NEU-ECEF time-space registration. Background technique [0002] Today, data fusion techniques are widely applicable to object detection, tracking and recognition, etc. in multi-source sensor networks. [0003] Existing research on data fusion methods relies on Bayesian frameworks, and one of the effective methods is probabilistic data association (PDA), which can identify uncertainties in data information. In addition, the motion model of a highly maneuvering target may change at any time, and it is difficult to describe its real motion state using any single target motion model. The interactive multi-model (IMM) method introduces multiple target motion models and analyzes the state of each model The estimation is fused accordi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/66G01S13/42
CPCG01S13/66G01S13/426
Inventor 梁菁唐琴邵钰洲任杰王田田赵晨凯缪麒龙
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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