Multi-sound array moving target detecting and positioning method

Abstract

The invention relates to a multi-sound array moving target detecting and positioning method. A traditional method has uncertain situations such as mixed missing detection and false alarms in measurement data, and it is inevitable to deal with the problem of data association. In the multi-sound array moving target detecting and positioning method provided by the invention, the problem of an uncertainty relation between a signal source and a target is solved based on a label random finite set and by using a target tracking positioning problem in which a sound array sensor is used as a main measurement means. The method comprises the steps of: firstly, calculating time difference measurement of a group of sensor received signals based on a generalized cross-correlation function, and then calculating angle difference measurement of each group of sensors according to a signal receiving direction; then performing fusion processing on these array measurement information, detecting targets byusing a Gipps-generalized label Dobernoulli algorithm in combination with a Gaussian mixture model, and estimating the states of the targets, the trajectories of the targets, and the number of targets. According to the multi-sound array moving target detecting and positioning method provided by the invention, array measurement information is calculated by using a real sound signal, and then the Gipps-generalized label Dobernoulli algorithm is adopted, so that the operation is faster, and the tracking result is more efficient.

Description

technical field [0001] The invention belongs to the technical field of multi-sensor multi-target tracking, in particular to a multi-sound array moving target detection and positioning method based on Gibbs-Generalized Label Multi-Bernoulli (Gibbs-GLMB) algorithm. Background technique [0002] In the field of target tracking, although the sound source signal is far inferior to the optical method, the biggest advantage of the observation of the sound source signal is that it is subject to obstacle conditions, such as the complex situation of the target environment, such as smoke, dust, darkness, transparent objects, In special environments such as reflective light and nuclear radiation, the use of sound array sensors for measurement has incomparable advantages, especially in the application of underwater detection targets, and the use of sound signals to detect target positions is also the main reason for the wide application of this type of sensor reason. [0003] A target t...

AI Technical Summary

Problems solved by technology

[0004] In the process of multi-pair sensor observation, the traditional method inevitably needs to deal with data correlation problems, such as the detection of newborns and deaths of targets, uncertainties such as missed detections and false alarms of targets in the sensor detection process, and the existence of observation equipment itself. Errors, lack of prior information of observations, etc., will cause some false measurements to be mixed in the measurement data, making it impossible to determine the source of the measurement data, and also destroy the correspondence between the observation target and its measurement

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