Maneuvering extended target hybrid interactive strong tracking filtering method driven by incomplete measurement data

Abstract

The invention discloses a maneuvering extended target hybrid interactive strong tracking filtering method driven by incomplete measurement data, and the method comprises the following steps: 1, building a hybrid model set, and determining a transition probability matrix of the hybrid model set; 2, calculating an input initial value of the sub-model filter at a k sampling moment after interaction;3, constructing a sub-model filter; 4, updating the model probability of the model at the k sampling moment; 5, calculating state estimation, namely covariance, of the k sampling moment, judging a termination condition, and if the target tracking process is finished, exiting; otherwise, returning to the step 2. The extended target tracking algorithm provided by the invention can effectively adaptto an incomplete measurement environment in actual engineering, has higher tracking precision, and is faster and more accurate in model switching at a target maneuvering moment.

Description

technical field [0001] The invention relates to the technical field of fire control target tracking, in particular to a hybrid interactive strong tracking filtering method for mobile extended targets driven by incomplete measurement data. Background technique [0002] Target search and identification, tracking, hit and damage are the four key links of the fire control system, and target tracking is the second key link in the fire control system, which is the necessary prerequisite for subsequent weapon hit and damage. Target tracking aims to grasp the change law of moving target parameters (state) over time, establish and predict the course and trend of target moving state, and lay the foundation for further actions of subsequent weapon systems, such as the acquisition of attack elements. Target tracking accuracy is one of the key tactical technical indicators to measure the tracking system. How to maximize the target tracking accuracy is a hot and difficult topic in the fie...

AI Technical Summary

Problems solved by technology

Traditional target tracking methods can no longer meet the tracking accuracy requirements for such time-sensitive maneuvering targets

[0003] At the same time, under the conditions of modern informationized electronic countermeasures, during the process of measuring target parameters by the tracking system sensor, due to the complex detection environment, target maneuvering, limited detection capability, failure or failure of the sensor itself, and the transmission of measurement information by the sensor to In the process of the destination (data processing center or node), due to channel interference, congestion and other factors, there are random missing phenomena in the measurement data that finally reaches the destination, which is called incomplete quantity.

The traditional existing target tracking theories and methods are all based on the premise of complete measurement information, so that the existing target tracking theories and methods cannot be directly extended and applied to target tracking under incomplete measurement

[0004] In addition, when the traditional fire control system tracks the above-mentioned types of time-sensitive targets, it generally models such targets as particles, which can be considered reasonable when the target size is small and the distance is long, and the corresponding target tracking estimation algorithm is also Only limited measurement information such as the distance and angle of the particle target relative to the observer can be used to estimate the target motion parameters

Since the tracking system has a theoretical error lower limit independent of the estimation algorithm: Clem-Circumventing Lower Bound (CRLB), it is difficult to further improve the target tracking accuracy based on the existing particle-based target tracking model

At the same time, in key air defense and terminal defense, in order to severely injure and completely destroy the active combat forces of the opponent's attack target, the air defense fire control system can use modern new defensive weapons (such as directed energy and kinetic energy weapons, etc.), and these defensive weapons When solving attack elements, continuous, stable and more accurate target motion parameter estimation is required, but traditional particle target tracking systems are difficult to meet this demand

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