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Group target tracking track initiation method based on Bayesian principle

A track start and group target technology, applied in the field of radar, can solve the problem of large residual error, achieve the effect of increasing utilization, avoiding excessive residual error, and improving robustness

Active Publication Date: 2020-11-24
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0003] In order to solve the above problems, the present invention provides a group target tracking track initiation method based on the Bayesian principle, fully utilizes the group target information, introduces the Poisson distribution to construct the likelihood ratio expression, and describes the track under the true condition The conditional probability density of target distribution in the group improves the efficiency of track initiation for group targets and solves the problem of excessive residual error caused by non-ideal measurement

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  • Group target tracking track initiation method based on Bayesian principle
  • Group target tracking track initiation method based on Bayesian principle
  • Group target tracking track initiation method based on Bayesian principle

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Embodiment 1

[0047] A method for starting a group target tracking track based on the Bayesian principle, comprising the following steps:

[0048] like figure 1 As shown, after performing pulse compression, constant false alarm detection and grouping processing on the radar echo, a set of target measurement sets of each subgroup in the scanning space at the tth time is obtained, and then each subgroup is used as the current subgroup to execute The initial judging operation of the track, the initial judging operation of the track is:

[0049] S1: According to the current subgroup Z 0 The target measurement set of obtains the current subgroup Z 0 The equivalent measured value m 0 and the prediction correlation gate, where the prediction correlation gate is the current subgroup Z 0 The range of possible positions at the next moment;

[0050] S11: Calculate the equivalent measurement value m of the current subgroup 0 :

[0051]

[0052] Among them, the target measurement set of the cu...

Embodiment 2

[0083] Based on the above embodiments, this embodiment takes the group target as a flock of birds as an example, and further describes a method for starting the track of a group target, which specifically includes the following steps:

[0084] Step 1. Use the high-resolution radar that only contains distance information to observe the bird flock target; the high-resolution radar bandwidth B=785MHz, the distance resolution ΔR=c / 2B=0.19m, where c is the speed of light; the radar beam width is 1.5°, and the sampling The interval is Δt=40ms; after performing pulse compression and constant false alarm detection on the data after a certain scan, two equivalent measurements are obtained at 157.8s (recorded as the first sampling time), respectively, the distance from the radar is 250.1m, 253.2m, recorded as and The calculated equivalent measure is Since this equivalent measurement cannot be associated with any existing group target, this equivalent measurement point is recorded...

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Abstract

According to a group target tracking track initiation method based on a Bayesian principle, a likelihood ratio expression is described by introducing the number information of targets in a sub-group,so that the utilization of the feature information of the group target is increased, and the track initiation efficiency for dense group targets, especially under the condition of dense distribution,is improved. Meanwhile, the likelihood ratio expression adopts Poisson distribution to describe the intra-group target distribution condition probability density under the condition that the flight path is true, the problem that the residual error between an extrapolation value and an actual measurement value is too large due to the jumping phenomenon of equivalent measurement in a traditional flight path starting method is avoided, and the robustness of the algorithm is improved.

Description

technical field [0001] The invention belongs to the technical field of radar, in particular to a method for starting a group target tracking track based on the Bayesian principle. Background technique [0002] Swarm target tracking must first carry out group detection and group track initiation. After group detection, the equivalent measurement of each subgroup is calculated separately, and the equivalent measurement of continuous multi-frame data is used to judge whether the track is true. The existing group target track initiation technology usually extrapolates according to the equivalent measurement data of the current frame, and uses the relationship between the equivalent measurement data of the next frame and the extrapolated value to judge whether the association is successful; once the association is successful, judge Commonly used criteria for track initiation include Bayesian criterion, M / N criterion, modified logic method and other typical single-target track in...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/66G01S13/70G01S7/41
CPCG01S13/66G01S13/70G01S7/411Y02A90/10
Inventor 王锐姜琦胡程周超龙腾
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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