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Distributed tracking method for extended target

An extended target and distributed technology, applied in the direction of radio wave reflection/re-radiation, using re-radiation, measurement devices, etc., can solve the problem of immature extended target tracking distributed methods

Active Publication Date: 2020-03-20
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Application Information

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Problems solved by technology

However, the distributed technology of point target tracking is becoming more and more mature, and the distributed method of extended target tracking is not yet mature; based on this, the present invention provides a method for distributed tracking of extended targets

Method used

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  • Distributed tracking method for extended target
  • Distributed tracking method for extended target
  • Distributed tracking method for extended target

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Embodiment Construction

[0058] The present invention will be further described below in conjunction with drawings and embodiments.

[0059] This embodiment provides a distributed tracking method for extended targets, the process of which is as follows figure 1 As shown, the method is based on the diffusion strategy and extended Kalman filter, and each node estimates the dynamic state and shape characteristics of the target at the same time; in this embodiment, the elliptical extended target is mainly considered, and the Gauss-Wasserstein distance is used to evaluate the tracking performance, This distance effectively unifies the evaluation of the target's dynamic state and shape characteristic estimation, without evaluating the two separately. Consider the following state-space equations in the present invention:

[0060]

[0061]

[0062]

[0063] in, and p t =[α,d 1 , d 2 ] T respectively represent the dynamic state vector and shape characteristic vector at time t, x t Indicates th...

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Abstract

The invention belongs to the field of signal processing, and particularly provides a distributed tracking method for an extended target. According to the method, a heterogeneous network is considered,the number of scattering sources observed on each node obeys Gaussian distribution of different mean values, and the observation noise power of each node is different. The method comprises the following steps: firstly, each node calculates to obtain an intermediate estimated value of the dynamic state and shape characteristic of an extended target by exchanging information with neighbor nodes thereof; and then, each node propagates the intermediate estimation result in the neighborhood, and final estimation results of the dynamic state and the shape characteristics are obtained respectively.The method mainly aims at an extended target, and in a distributed network, each node can estimate dynamic states such as the position, the speed and the acceleration of the target and shape characteristics such as the direction and the size of the target at the same time. Compared with a non-communication method of each node, the method provided by the invention can effectively improve the tracking performance of each node, the tracking performance is close to a centralized method of sending the information of each node to a fusion center for processing, Meanwhile, the risk that the whole system crashes when the fusion center goes wrong can be effectively avoided.

Description

technical field [0001] The invention belongs to the field of signal processing, and relates to the problem of target tracking in the field of signal processing, in particular to the problem of extended target tracking, specifically a method for distributed tracking of extended targets. Background technique [0002] Object tracking has a wide range of applications in navigation, machine learning and other fields. Usually when the target is far away from the sensor, details such as the shape, size, and direction of the target can be ignored, so that it can be regarded as a point target; however, as the sensor resolution increases, the target may occupy multiple resolutions of the sensor. unit and therefore cannot be regarded as a mass point. In recent years, extended targets have received a lot of attention in areas such as underwater regulation and autonomous driving. [0003] In the tracking process of the extended target, not only the dynamic state of the target such as p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/72
CPCG01S13/723Y02D30/70
Inventor 夏威任媛媛
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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