Multi-target detecting and tracking method based on passive sonar azimuth history diagram
A technology of azimuth history, detection and tracking, which is applied in the direction of sound wave reradiation, measurement devices, radio wave measurement systems, etc., can solve the problems of poor tracking performance and achieve the effect of improving the convergence speed
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specific Embodiment approach 1
[0098] Specific implementation mode one: the following combination figure 1 This embodiment is described. A passive sonar multi-target azimuth detection and tracking method described in this embodiment includes:
[0099]Step 1. Process the sonar observation signal by using beamforming technology to obtain a multi-target azimuth history map. Using the multi-target azimuth history map, use the maximum value point of the azimuth spectrum at each sampling time in the azimuth history map as detection units, and obtain an adaptive noise background for each detection unit;
[0100] Step 2: Use the N-P criterion detector to detect the detection unit by using the adaptive noise background of each detection unit to obtain the measurement point trace, and use the measurement point trace at the initial two moments to obtain the initial track of multiple targets ;
[0101] Step 3: Use the tracking gate to screen the initial tracks of multiple targets to obtain multiple real target tracks...
specific Embodiment
[0287] Concrete embodiment: sea test experiment: combine Figure 2 to Figure 4 Be explained;
[0288] The 25-minute time-domain signal is selected from the data collected by the 32-element uniform linear array, and the target is tracked for 750 steps, with each step lasting 2 seconds. The time-domain signal is processed by beamforming technology, and the following is obtained: figure 2 The azimuth history diagram shown.
[0289] Then the detector is used to detect the target, the false alarm probability is set to 0.1%, and the length of the left and right protection units and the reference unit are both 1°. After the detection, it is judged that the energy of the location with the target remains unchanged, and it is judged that the energy of the location without the target is set to 0. Take the energy value in decibels (dB) and normalize it to get as image 3 test results.
[0290] Substitute information such as the signal-to-noise ratio of the signal in the experimental...
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