Track constraint target tracking method based on continuous time trajectory function

A technology of time trajectory and target tracking, which is applied in the fields of target tracking and information fusion. It can solve problems such as equality constraint information ignoring model equivalence relations, etc., achieve high-precision estimation and prediction, and overcome the effect of low precision

Active Publication Date: 2021-06-22
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0005] In order to overcome the problem that the existing methods can only consider the equality constraint information and ignore the model equivalence relationship, the present invention proposes a trajectory constraint target tracking method based on continuous time trajectory function

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  • Track constraint target tracking method based on continuous time trajectory function
  • Track constraint target tracking method based on continuous time trajectory function
  • Track constraint target tracking method based on continuous time trajectory function

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Embodiment Construction

[0037] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0038] refer to Figure 1-5 . The specific steps of a track-constrained target tracking method based on a continuous-time trajectory function of the present invention are as follows:

[0039] Step 1. Simulate the scene.

[0040] The simulation scene is set on a two-dimensional coordinate plane, and two simulation scenes are set. In scene 1, the target moves in a straight line at a uniform speed, and the target motion state is constrained by linear inequality; in scene 2, the target moves in a circle, and the target motion state is constrained by nonlinear inequality. The motion models are as follows:

[0041]

[0042]

[0043] where x 1 t and x 2 t Respectively represent the motion state of model 1 and model 2 at time t, T represents the sampling interval of simulation time, r represents the radius of circular motion, θ 0 Indicates the initial angl...

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Abstract

The invention relates to a track constraint target tracking method based on a continuous time trajectory function, which considers that the motion state of a target is subjected to inequality constraint conditions, and searches a continuous time trajectory function with the minimum mean square error from continuous measurement, so as to estimate the real state of the target. With the adoption of the mode, the method ingeniously applies the retardation factor and the barrier barrier function, the inequality constraint condition is embedded into the unconstrained continuous time trajectory function, and the measured data is fitted in a trajectory fitting mode to obtain the state of the target. According to the method, the target can be estimated and predicted with higher precision, inequality constraint conditions are considered, prior information such as a kinetic model and noise covariance of the target does not need to be known in advance, and the problem that traditional equality constraint target tracking precision is not high is solved; by adding a track road width inequality to constrain prior information, accurate tracking and prediction of a target state are realized.

Description

technical field [0001] The invention relates to the fields of target tracking and information fusion, in particular to a track-constrained target tracking method based on a continuous time track function. This method is suitable for high-speed changing targets of UAVs, missiles, and orbiting spacecraft. Background technique [0002] Constrained target tracking is a crucial technology in the field of aerospace. Researchers at home and abroad have conducted in-depth research on it and put forward a large number of related theories and methods. However, most of the constrained target tracking methods at this stage are based on the Markov transfer model, that is, the motion model of the target needs to be established in advance, and then the constraints are considered. This makes the existing methods difficult to apply to the situation where the target motion model is unknown. [0003] The document "Single-Road-Constrained Positioning Based on Deterministic Trajectory Geometry...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 李天成周金阳王小旭吴自高
Owner NORTHWESTERN POLYTECHNICAL UNIV
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