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Distributed fire control fusion method based on improved covariance crossover algorithm

A covariance intersection and fusion method technology, applied in the field of distributed fire control, can solve the problems of inability to guarantee the consistency of the fusion algorithm, less conservative fusion results, and large conservatism, so as to reduce the amount of calculation, improve real-time performance, and improve The effect of precision

Active Publication Date: 2020-09-22
NANJING UNIV OF SCI & TECH
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Problems solved by technology

The covariance cross-fusion algorithm improves the accuracy of the fusion and avoids the divergence of the fusion estimator, but the result of the fusion of multiple sensors is relatively conservative
[0007] (2) Ellipsoidal Intersection (EI): This method makes full use of the mutual information between the two sensors and can obtain a less conservative fusion result, but this method cannot guarantee the consistency of the fusion algorithm
[0008] (3) Inverse covariance intersection fusion algorithm (Inverse Covariance Intersection, ICI): This method is used to extend the EI algorithm, and the fusion result can be a compromise between CI and EI, which is less conservative than CI, but fusion The results are consistent

Method used

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  • Distributed fire control fusion method based on improved covariance crossover algorithm
  • Distributed fire control fusion method based on improved covariance crossover algorithm
  • Distributed fire control fusion method based on improved covariance crossover algorithm

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Embodiment 1

[0070] This embodiment is aimed at figure 2 The distributed fire control system shown in Fig. image 3 Shown:

[0071] Step 1. Construct a distributed fire control system with 3 nodes, and establish a linear discrete random target tracking model, as follows:

[0072] Construct a distributed fire control system with 3 nodes, and establish its linear discrete random target tracking system as follows:

[0073] x(k+1)=Φx(k)+Γω(k)

[0074] Among them, the initial state of the target is set to x(0)=[10,2] T ;Φ=[1T;0 1], T=0.25s; Adopt the distributed sensing network that 3 sensors are formed in the present embodiment, the measurement equation of each sensor is:

[0075] z i (k)=H i x(k)+v i (k), i=1,2,3

[0076] where H 1 =[1 0] T , H 2 =H 3 =I 2 , Q=1.4, R 1 = 2, R 2 =diag{2.5,15},R 3 =diag{8,1.5}; Simulation time N=400, Monte Carlo times 500.

[0077] Step 2. Each node uses the Kalman filter algorithm to estimate the motion state of the target according to form...

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Abstract

The invention discloses a distributed fire control fusion method based on an improved covariance crossover algorithm. The method comprises the following steps: constructing a distributed fire controlsystem, and establishing a linear discrete random target tracking model; enabling each node to estimate the motion state of a target by using a Kalman filtering algorithm; and performing data fusion on the estimation results of the nodes by adopting an improved covariance crossover algorithm, and performing mathematical operation on the reciprocal of the determinant of the inverse covariance to directly obtain a fusion coefficient so as to obtain a final target state. According to the invention, the calculation amount of the fusion algorithm of the distributed fire control system is reduced, the real-time performance of the distributed fire control system is improved, and the target tracking precision is improved.

Description

technical field [0001] The invention relates to the technical field of distributed fire control, in particular to a distributed fire control fusion method based on an improved covariance intersection algorithm. Background technique [0002] In recent years, with the development of computer technology and sensor network technology, the research of distributed air defense fire control tracking system has received more and more attention. The early air defense fire control system can obtain high-precision target tracking information through centralized processing of the detection information of each node, but it can no longer meet the needs of the information battlefield. Compared with the traditional air defense fire control system, each fire control unit in the distributed air defense fire control system can calculate the target route based on the detection information of the adjacent fire control units, and perform various element calculations, and then directly drive the we...

Claims

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Application Information

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IPC IPC(8): G06K9/62G06T7/246G06T7/207G06T7/277
CPCG06T7/246G06T7/207G06T7/277G06F18/25Y02P90/02
Inventor 樊蓉戚国庆李银伢盛安冬
Owner NANJING UNIV OF SCI & TECH
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