Doppler radar sequential smooth variable structure filtering method and device

Abstract

The invention provides a Doppler radar sequential smooth variable structure filtering method and device, belongs to the technical field of radar data processing, and can solve the problem of a nonlinear underdetermined observation model of a Doppler radar and the problem of robust tracking under the condition that a target motion model is uncertain at the same time. According to the method, target position measurement and radial speed measurement decoupling processing of a Doppler radar are adopted, and the problem of a nonlinear underdetermined observation model is solved through a sequential estimation strategy. Obtaining first-stage target state estimation by using a nonlinear target position measurement and generalized smooth variable structure filtering method; and in the second-stage measurement conversion module and the second state estimator, constructing pseudo measurement by using radial speed measurement, and updating the first-stage target state estimation to obtain the final posterior state estimation of the current frame target. According to the generalized smooth variable structure filtering method, the robustness of the model under the uncertain condition is ensured. Therefore, the target tracking precision of the Doppler radar can be improved, and the robust estimation performance can be maintained under the condition that the target motion model is uncertain.

Description

technical field [0001] The embodiments of the present application relate to the technical field of radar data processing, and in particular, to a Doppler radar sequential smoothing variable structure filtering method and device. Background technique [0002] Radar target tracking device is a device that uses information such as target distance, azimuth, and Doppler frequency offset contained in radar echoes to continuously and effectively estimate the number of targets, positions, speeds, accelerations, and other motion states. It is widely used in In the fields of automatic driving, air traffic control, weather monitoring, security, national defense and military affairs, etc., Doppler radar can observe the radial velocity information of the target movement, and then increase the effective information dimension in the radar target state estimation link, greatly improving the target tracking performance . [0003] The target tracking algorithm or device of Doppler radar need...

AI Technical Summary

Problems solved by technology

Since the observation model of Doppler radar is nonlinear, in order to solve the problem of the nonlinear observation model, it is also tried to replace the nonlinear function with the Jacobian matrix into the standard smooth variable structure filter structure, but this will introduce a new underdetermined matrix The problem of inversion, which leads to a large error in the estimation of the target velocity, therefore, the smooth variable structure filtering method still cannot be applied to Doppler radar devices

[0006] Therefore, the accuracy problem caused by the nonlinear underdetermined observation model of Doppler radar and the robust tracking problem under the condition of uncertain motion model of the target still need to be solved urgently

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