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A Fusion Method for Selective Track State Estimation Based on Partial Track Dimension

A technology of state estimation and fusion method, applied in navigation calculation tools, navigation, calculation and other directions, can solve the problems of poor system track quality and large single-latitude error, and achieve the effect of improving system track accuracy

Active Publication Date: 2022-07-19
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem of poor system track quality and large single-latitude error caused by local track fusion, the present invention provides a selective track state estimation and fusion method for partial track sub-dimensions. The present invention provides the following technical solutions:

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  • A Fusion Method for Selective Track State Estimation Based on Partial Track Dimension
  • A Fusion Method for Selective Track State Estimation Based on Partial Track Dimension
  • A Fusion Method for Selective Track State Estimation Based on Partial Track Dimension

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specific Embodiment 1

[0037] and figure 1 As shown, the present invention provides a selective track state estimation fusion method of local track sub-dimension, the method includes the following steps:

[0038] Step 1: Read and preprocess the local track, and perform time alignment and space alignment;

[0039] Step 2: Split the local track according to the latitude, use the track quality measurement algorithm based on the grey proximity correlation to calculate the track quality under a single latitude, and sort by dimension;

[0040] Step 3: Set the number of cycles, select the number of single-latitude tracks according to the track quality, and fuse the two high-quality single-latitude tracks with the track state estimation to obtain a fusion track and determine the single-latitude system track;

[0041] Step 4: When the track quality of the fused track is greater than the track quality of the high-quality single-latitude track, set the number of cycles to perform multiple fusion cycles until ...

specific Embodiment 2

[0063] Taking the x-dimension as an example, the two single-dimension tracks with the highest quality are and Perform track state estimation fusion to obtain a fused track (At this time i=1, the x-dimensional system track formed by the first fusion), if Then the track fusion of this dimension ends, and the local track with the highest track quality is used. As the x-dimension system track, otherwise go to step 4.

[0064] Step 4. Execute i=i+1 in a loop, select arrive Fusion to get the track (the x-dimension system track formed by the i-th fusion), until (The track quality is no longer improved from the last fusion), jump out of the loop and select track S i-1 'As the system track in this dimension; if i+1=n (that is, all tracks participate in the fusion), it is still not satisfied will as the system track in this dimension. The fusion steps for the y and z axes are the same as for the x axis.

[0065] Validation of Fractional Strategies:

[0066] The Mo...

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Abstract

The present invention is a selective track state estimation fusion method of local track sub-dimension. The invention reads and preprocesses the local track, and performs time alignment and space alignment; the local track is divided according to the latitude, and the track quality measurement algorithm based on the grey proximity correlation degree is used to carry out the flight track under a single latitude. Calculate the track quality, and sort by dimension; set the number of cycles, select the number of single-latitude tracks according to the track quality, and fuse the two high-quality single-latitude tracks with the track state estimation to obtain the fused track and determine the system. track; when the track quality of the fusion track is greater than the track quality of the high-quality single-latitude track, the present invention realizes the selective fusion of local tracks. After adopting the simple convex combination fusion method of multi-sensor local track and local track, the accuracy of the system track generated by fusion is improved.

Description

technical field [0001] The invention relates to the technical field of underwater acoustic detection position, and is a selective track state estimation fusion method of partial track sub-dimension. Background technique [0002] In the current track state estimation fusion research, there are many typical track state estimation fusion methods, which fuse all local tracks, and the poor local tracks participate in the fusion, which will lead to a decrease in the high quality of the system track, while increasing the fusion time. From this, methods based on the judgment of track quality to achieve weighted fusion or selective fusion are produced. However, this judgment method takes the judgment of the overall quality of the track as the basis for selection or weighting, and does not take into account the characteristics of different errors between the dimensions of the local track, resulting in tracks with higher overall errors in each dimension. Participate in the fusion, bu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G06K9/62
CPCG01C21/203G06F30/20G06F18/25
Inventor 初妍孙志洋徐丽宁慧魏兰兰栾兰夏琳琳沈洁于海涛张艳丽
Owner HARBIN ENG UNIV