Radar target tracking method based on Doppler measurement adaptive processing

Abstract

The invention, which belongs to the field of Doppler radar target tracking, particularly relates to a radar target tracking method based on Doppler measurement adaptive processing. According to the invention, sequential filtering of processing Doppler measurement is realized based on a BLUE-KF-based position measurement filtering method and selection of adaptive pseudo-information. With the BLUE-KF-based position measurement filtering method, unbiased estimation based on prediction value measurement conversion is realized. Meanwhile, with a prediction-value-based converted pseudo measurement,unbiased estimation of a pseudo state is obtained. Converted pseudo measurement or pseudo state estimation is selected adaptively to carry out sequential filtering according to a difference change rate of a pseudo measurement error covariance and a pseudo state estimation error covariance. Therefore, adaptive processing of the target nonlinear measurement and the effective tracking of the target are realized while the system can obtain target position measurement and Doppler measurement simultaneously; and the tracking accuracy is high.

Description

technical field [0001] The invention belongs to the field of Doppler radar target tracking, in particular to a radar target tracking method based on Doppler measurement adaptive processing. Background technique [0002] In radar target tracking, the state equation of the target is generally established in the Cartesian coordinate system, and the measured values ​​are generally obtained in the polar coordinate system. In this way, object tracking becomes a nonlinear estimation problem. In order to solve this problem, many studies have focused on the nonlinear measurement tracking problem in the mixed coordinate system, including Extended Kalman Filter (Extended Kalman Filter, EKF), Unscented Kalman Filter (Unscented Kalman Filter, UKF ) and particle filter (Particle Filter, PF). Due to the Taylor series expansion approximation in the EKF and the deterministic sampling method of the insensitive Kalman filter, these methods have poor filtering effects and even diverge when th...

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Problems solved by technology

[0007] In view of the above-mentioned problems or deficiencies, in order to solve the target tracking problem that the target position measurement and Doppler measurement cannot be obtained simultaneously in the radar tracking system, the present invention considers how the tracking system can reasonably process Doppler information, and provides a method based on Radar Target Tracking Method Based on Adaptive Processing of Doppler Measurements

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