Variation-based multi-radar fusion track state estimation method
A state estimation, multi-radar technology, applied in the direction of reflection/re-radiation of radio waves, complex mathematical operations, utilization of re-radiation, etc., can solve the problems of tracking failure, affecting track quality, bulging, etc. Track quality, the effect of improving accuracy
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[0041] In order to make the purpose, content and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0042] The present invention proposes a multi-radar fusion track state estimation method based on variation, comprising the following steps:
[0043] Step 1: Create observation data queue
[0044] For each batch of fused tracks, a dynamically updated observation queue is created at the beginning of the batch to save the observation movement records of each original radar within the latest N seconds. N is generally 20-60;
[0045] Step 2: Add real-time observation data to the queue
[0046] Once the position of the corresponding original track is updated, a record is added to the queue (t k,1 ,t k,2 , d k,x , d k,y , d k,z ), where k>0 represents the index number in its queue, t k,2 , t k,1 are the recording tim...
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