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A Multi-target Detection and Tracking Method Based on Passive Sonar Azimuth History Map

A azimuth history, detection and tracking technology, applied in the re-radiation of sound waves, measurement devices, radio wave measurement systems, etc., can solve problems such as poor tracking performance, and achieve the effect of improving the convergence speed

Active Publication Date: 2022-04-29
HARBIN ENG UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of poor tracking performance in existing underwater target tracking methods, and proposes a multi-target detection and tracking method based on passive sonar azimuth history maps

Method used

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  • A Multi-target Detection and Tracking Method Based on Passive Sonar Azimuth History Map
  • A Multi-target Detection and Tracking Method Based on Passive Sonar Azimuth History Map
  • A Multi-target Detection and Tracking Method Based on Passive Sonar Azimuth History Map

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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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Abstract

A multi-target detection and tracking method based on a passive sonar azimuth history map belongs to the technical field of underwater multi-target tracking. The problem of poor tracking performance of existing underwater target tracking methods is solved. The present invention uses the tracking wave gate to screen the initial track of the target to obtain the real target track, and determines the target tracking method according to the number of points falling into each real target tracking wave gate at each sampling time; if the real target track track intersect, use the MHT algorithm to form a hypothetical event for the measurement in the tracking wave gate, and calculate the probability of the hypothetical event to obtain the state update equation of the target; if the real target track does not intersect, use the PDA algorithm to measure each target separately The point traces are processed, and the measurement point traces are weighted by using the correlation probability of all the measurement point traces and the target in the wave gate to obtain the state update equation of the target, and the target orientation is calculated by using the corresponding target state update equation and MPUKF filtering technology. track. The invention is suitable for underwater multi-target tracking.

Description

technical field [0001] The invention belongs to the technical field of underwater multi-target tracking, and in particular relates to a multi-target detection and tracking method based on a passive sonar azimuth history map. Background technique [0002] With the gradual deepening of human understanding of the ocean, all countries are vigorously developing and exploring the ocean field. Among them, the detection and tracking of underwater targets is an important task in ocean defense warfare. The passive sonar detection system receives the noise radiated by the target, extracts the target orientation and other information after processing, and then completes the tracking of the target through data processing. Since the target can be associated, located and identified only when the azimuth information is accurate, the azimuth-only tracking technology for underwater targets is particularly important in passive sonar detection systems. [0003] Target detection is a tracking c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S15/66G06F17/16
CPCG01S15/66G06F17/16
Inventor 滕婷婷朱宣城梅继丹吕云飞兰华林师俊杰
Owner HARBIN ENG UNIV
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