Tracking-before-detection method for weak and small multi-targets with high-resolution sensors
A sensor and high-resolution technology, applied in the field of information fusion, can solve problems such as algorithm complexity and calculation increase, targets are easily lost, and the number of targets is estimated to be too many, to prevent rapid degradation and solve the effects of easy loss.
Active Publication Date: 2022-03-22
NAVAL AVIATION UNIV
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[0008] The purpose of the present invention is to propose a high-resolution sensor weak and small multi-target tracking method before detection, to solve the weak and small target detection and tracking method based on TBD technology, which treats the target as a "point target" and causes the number of targets to be estimated to be too many and algorithm complexity. and the calculation is significantly increased, and when the target is missed, the particle group representing the target in the filter degenerates rapidly, causing the target to be easily lost at subsequent moments, etc.
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[0052] Without loss of generality, assume a two-dimensional multi-target tracking scene, the total simulation time is 80s, and the PHD filter is realized by particle filtering. The sensor is located at the origin of the coordinates, the sampling period is T=1s, and a two-dimensional image in a certain detection area can be provided at each moment. Each image contains m×n=20×20 resolution units, and the scale of each resolution unit is set to Δ x =Δ y = 1, with Indicates the observation data of time k resolution unit (i, j)
[0053]
[0054] in is the influence of the target on the intensity of the resolution unit (i,j), is the measurement noise of the resolution unit (i, j), and it is assumed that the measurement noise between the resolution unit and the resolution unit, the previous moment and the next moment are independent of each other. For simplicity, it is assumed that the measurement noise follows a Gaussian distribution with zero mean, that is, (x k ,y k )...
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The invention discloses a tracking method before detecting weak and small multi-targets with a high-resolution sensor, which belongs to the field of information fusion and is suitable for the detection and tracking of multiple weak and small targets by a high-resolution sensor. When processing high-resolution sensor data, the weak and small target detection and tracking method based on TBD technology suffers from the estimation of the number of targets being too large, the complexity of the algorithm and the calculation significantly increased, and the target in the filter that represents the target when the target is missed. Rapid degradation of particle swarms and other issues. The tracking method before detection of weak and small multi-targets with high-resolution sensors proposed by the present invention is based on solving such problems. The present invention effectively divides and fuses "same-source" targets, performs fusion processing on estimated values originating from the same target, and constructs an auxiliary search mechanism for missing targets in the main filter, thereby overcoming weak and small targets based on TBD technology Due to the limitations of the detection and tracking method, it has strong engineering application value and promotion prospect.
Description
technical field [0001] The invention relates to a method for detecting and tracking a target, in particular to a method for detecting and tracking weak and multiple targets, which belongs to the field of information fusion and is suitable for the detection and tracking of multiple weak and small targets by a high-resolution sensor. Background technique [0002] High-resolution sensors can provide more target structure information, and have an extremely broad application background in target detection, tracking and recognition, and are one of the important development directions of modern sensor technology. However, since the size of the resolution unit of this type of sensor is much smaller than the size of the target, the target echo usually occupies multiple resolution units. When the target signal-to-noise ratio is high, the target can be achieved by means of target recognition and construction of a suitable target expansion model. The correction of the number and the est...
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IPC IPC(8): G01S13/66
CPCG01S13/66
Inventor 谭顺成康勖萍宋伟健于洪波
Owner NAVAL AVIATION UNIV