Variable structure multi-model maneuvering target tracking method based on error-fuzzy decomposition

A technology of maneuvering target tracking and variable structure, which is applied in special data processing applications, complex mathematical operations, instruments, etc., and can solve problems such as different MSA mechanisms

Pending Publication Date: 2019-11-05
HANGZHOU DIANZI UNIV
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Problems solved by technology

For the existing VSMM methods, the difference

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  • Variable structure multi-model maneuvering target tracking method based on error-fuzzy decomposition
  • Variable structure multi-model maneuvering target tracking method based on error-fuzzy decomposition
  • Variable structure multi-model maneuvering target tracking method based on error-fuzzy decomposition

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Embodiment Construction

[0067] The present invention is an error-fuzzy decomposition-based variable structure multi-model maneuvering target tracking method, which specifically includes the following steps:

[0068] Step 1: Construct a single-sensor single-target tracking scene, and initialize the motion model of the target;

[0069] Build the motion model of the target: x k = f k,k-1 (x k-1 ,s(k))+v k

[0070] where x k and s(k) are target state vector and system mode respectively; f k,k-1 is the mode-based objective transition function, v k is the process noise.

[0071] Target at time 1 to k ground-truth model sequence S k ={s(1),s(2),...,s(k)}. Similarly, the target model sequence at time 1 to k Here m(k) is the effective model at time k, and the superscript l means is a feasible model sequence among all possible model sequences.

[0072] At time k, the expression of the observation equation is,

[0073] z k =g k (x k )+w k

[0074] In the formula, z k Indicates the observatio...

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Abstract

The invention discloses a variable structure multi-model maneuvering target tracking method based on error-fuzzy decomposition, and the method comprises the steps: firstly employing an error ambiguitydecomposition (EAD) principle to derive an EAD-MSA (error ambiguity decomposition-model sequence set adaptation) standard, and enabling the square difference of the standard between a minimum estimation value and a real value to be optimal; therefore, an EAD-variable structure multi-model (EAD-VSMM) method is constructed. The method is clear in configuration structure and small in calculation amount, can be widely applied to the field of maneuvering target tracking, and can improve the precision and robustness of target tracking.

Description

technical field [0001] The invention relates to the field of maneuvering target tracking, and relates to an error-fuzzy decomposition variable structure multi-model maneuvering target tracking method. Background technique [0002] Although the single-model Bayesian target tracking method can be well applied to the problem of non-maneuvering target tracking. But the tracking problem of different motion models of maneuvering targets at different times is also very important, and these random maneuver models are usually unknown to the tracking method. Although we can use a single model Bayesian tracking method to track maneuvering targets, it may lead to tracking failure when the previous motion model does not match the real maneuvering pattern. [0003] To address the above issues, a multi-model approach has emerged, and the maneuvering motion is described by a hybrid system with discrete and continuous states. The key idea of ​​the multi-model approach is that if the target...

Claims

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Application Information

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IPC IPC(8): G06F17/50G06F17/18
CPCG06F17/18
Inventor 申屠晗石涵嵩彭冬亮郭云飞骆吉安
Owner HANGZHOU DIANZI UNIV
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