Reference topology robust track association method for realizing system error decoupling

Abstract

The invention discloses a reference topology robust track association method for realizing system error decoupling, and relates to the technical field of signal processing, and the method comprises the following specific steps: firstly, constructing a hybrid reference topology based on the combination of a comprehensive reference topology and a nearest neighbor reference topology; secondly, the robust influence of the reference topology is analyzed from the two aspects of distance system errors and angle system errors, and an analysis result that the reference topology and the distance system errors are in a decoupling relation under polar coordinates is obtained; then, reference topology distance estimation is carried out from two aspects of translation system errors and angle system errors based on an optimal sub-mode distribution distance measurement method; and finally, based on the angle system error and the translation system error, calculating by using an optimal linear distribution algorithm according to a topological distance estimation result to obtain a final estimation result of robust track association. According to the reference topology robust track correlation method for realizing system error decoupling, the system error decoupling can be effectively realized, and the algorithm robustness is improved.

Description

Technical Field

[0001] The invention relates to the technical field of signal processing, and in particular to a reference topology anti-differential track association method for realizing system error decoupling. Background Art

[0002] The basic concept of system error decoupling is to reduce the interference of system error on track association as much as possible and improve the correctness of track association through some optimization processing algorithms.

[0003] The basic concept of reference topology is to take a known target to be judged as the origin, draw a circle with a certain radius, and form a reference track set with adjacent track points falling within the circle. The pattern formed by all reference track points in the set is called the reference topology of the target to be judged.

[0004] Regarding the reference topology track association problem used for system error decoupling, on the one hand, there is a lack of precise mathematical representation methods, which makes it difficult to effectively overcome the sensitivity to underreporting and misreporting of track information; on the other hand, the distance measurement between reference topologies mostly relies on subjective experience and lacks objective quantification methods, and its practicality in complex application scenarios needs to be further improved.

[0005] Currently, researchers have proposed a variety of methods for robust track correlation estimation for system error decoupling, mainly based on the reference topology method, and proposed various forms of estimation algorithms such as reference topology sequence and topology probability matrix.

[0006] For example, in the journal paper “A Novel Fuzzy Pattern Recognition Data Association Method for Biased Sensor Data” published by S Yue, W Yue, and X Shan at the International Conference on Information Fusion in 2006, the area around the target was discretized into a grid and track association estimation was performed using the target reference topology (RET) algorithm. This method lacks mathematical representation methods, the description process relies on subjective experience, and the amount of calculation is too large when the targets are dense, making it not very practical.

[0007] As in Example 2, in the 2009 journal article “A Track Correlation Algorithm Based on Topological Sequence Method” published in Acta Aeronautica Sinica, the concept of relative angle sorting was introduced to form a target topological sequence, and the similarity between the two sequences was measured to estimate the track correlation. This method is sensitive to false positives and false negatives, and the algorithm performance is greatly affected.

[0008] For example, in the journal paper “Track-to-track association using reference topology in the presence of sensor bias” published in Proceedings of Signal Processing, 10th International Conference on in 2010, Xiongjie Du, Yue Wang, and Xiuming Shan constructed a topological probability matrix through the probability distribution values ​​of adjacent targets, and measured the cross-correlation between the topological probability matrices of two targets to estimate the track association. This method involves matrix calculation and has high complexity. It is also sensitive to false positives and false negatives, and the algorithm performance needs to be improved.

[0009] Therefore, the present invention proposes a reference topology robust track association method for achieving system error decoupling, so as to solve the deficiencies of the above-mentioned prior art. Summary of the invention

[0010] The purpose of the present invention is to provide a reference topology robust track association method for realizing system error decoupling, so as to solve the problem in the prior art that due to the system error of the sensor itself, there is a large deviation in obtaining the absolute position information of the target. Using this as an association criterion for robust track association estimation will further increase the error and cause inaccurate optimization results.

[0011] To achieve the above object, the present invention provides a reference topology robust track association method for realizing system error decoupling, wherein the system error includes distance system error, angle system error and translation system error; the specific steps are as follows: Step 1: Based on the combination of comprehensive reference topology and nearest neighbor reference topology, a hybrid reference topology is constructed; Step 2: Analyze the influence of the reference topology on the robustness from the two aspects of distance system error and angle system error, and obtain the analysis result that the reference topology and the distance system error are decoupled in polar coordinates; Step 3: According to the analysis results of step 2, the reference topological distance is estimated from two aspects, namely, the translation system error and the angle system error, based on the optimal sub-mode allocation distance measurement method OSPA; Step 4: Based on the results of the angular system error and the translation system error in step 3 and referring to the topological distance estimation, the optimal linear assignment algorithm is used to calculate the final estimation result of the robust track association.

[0012] Preferably, the process of constructing a hybrid reference topology based on the combination of the comprehensive reference topology and the nearest neighbor reference topology in step 1 is as follows: S11, determine the reference track set; the target to be judged observed by sensor s With R as the radius and R as the center, all track points in the circular area are selected to form a point set. The reference track set is calculated as follows: (1) In the formula, is the target to be judged, R is the reference radius, for The reference track set, for The jth reference track point falls within the reference radius R, N is the number of reference track points, represents the j-th track point observed by sensor s; S12, determine the comprehensive reference topology; according to all track points falling within the reference radius R With the target to be judged The difference vector between The reference topology is calculated as follows: (2) In the formula, for The comprehensive reference topology, is the j-th reference topological element; S13, based on the nearest neighbor reference topology , balancing the track association performance and computational complexity, the calculation expression is as follows: (3) In the formula, is the topological number, indicating The upper limit of the number of reference track points N; S14, considering the detection range and computational complexity of sensor s, based on the comprehensive reference topology and nearest neighbor reference topology , obtain a hybrid reference topology that is more suitable for engineering practice , the calculation expression is as follows: (4).

[0013] Preferably, the process of analyzing the influence of the robustness of the reference topology from the two aspects of distance system error and angle system error in step 2 is as follows: S21, coordinate conversion: In polar coordinates, the target to be judged , Reference track point , reference topology elements Perform the following coordinate transformation: (5) (6) (7) In the formula, 、 They are the targets to be judged in polar coordinates. , Reference track point The radius from the origin, 、 They are the targets to be judged in polar coordinates. , Reference track point Angle with the polar axis; S22. Under the influence of the range system error, the relationship between the reference topology and the range system error in polar coordinates is analyzed. Specifically, when the sensor s track set produces a range system error When , the expression referring to the topological element is as follows: (8) In the formula, , , are the jth reference topological element, the target to be judged, and the reference track point after the distance system error is generated, respectively. is the offset vector. According to formula (8), the offset vector data is small. Approximately equal to , at this time, the distance system error is considered Reference topology elements The influence of is small, so the reference topology and distance system error are decoupled in polar coordinates; S23. Under the influence of the angle system error, the relationship between the reference topology and the angle system error in polar coordinates is analyzed. Specifically, when the sensor s track set generates an angle system error When , the expression referring to the topological element is as follows: (9) In the formula, 、 、 are the jth reference topological element, reference track point, and target to be judged after the angle system error is generated. According to formula (9), the angle system error Reference topological elements Rotated counterclockwise by the same angle.

[0014] Preferably, in step 3, the process of estimating the reference topological distance from two aspects of translation system error and angle system error based on the optimal sub-pattern allocation distance measurement method OSPA is as follows: S31, measurement sensor A, B two track reference topology and distance; S32, judging the reference topology of two tracks and The relationship between the distance and the penalty cost of isolated elements, if the two tracks refer to the topology and If the distance between the two tracks is not greater than the isolated element penalty time, it is determined that there is no paired element isolated point in the system; if the two tracks refer to the topology and When the distance is less than the isolated element penalty, it is determined that the system has an isolated point of paired elements, and the reference topological distance is calculated separately when only the translation system error exists or only the angle system error exists.

[0015] Preferably, in S31, the two tracks of the measurement sensors A and B refer to the topology and The distance process is as follows: S311, calculate the reference topology of the two tracks of sensors A and B and The metric distance between sets, where , , , the specific calculation expression is as follows: (10) In the formula, For two set elements , The metric distance between Penalize costs for isolated elements, is the basic measure; S312, Calculate the reference topology of two tracks based on the optimal sub-mode allocation distance measurement method OSPA and The metric distance between sets is expressed as follows: (11) Where p is the order parameter of OSPA distance, Reference topology for both , The OSPA distance between them; under the condition of m ≤ n, it is considered that the set All m elements are paired successfully. Pair elements between two sets , The distance and reflects the state difference between elements of different sets. For collection The distances corresponding to the remaining n − m isolated elements in the set; if m>n, then the set All n elements are paired successfully; at the same time, the OSPA distance satisfies the following conditions: (12) In the formula, For collection and The OSPA distance between the two elements when they are perfectly paired.

[0016] Preferably, in S32, when there is an isolated point of paired elements in the system, the calculation expression of the reference topological distance in the case of only translation system error is as follows: (13) In the formula, , are the number of reference track points of sensors A and B respectively, is the pairing matrix between sensors A and B, is the number of paired elements, is the pairing matrix The (u, v)th element in In addition to the pairing matrix The total number of remaining isolated points in the other two sets, is the pairing matrix between the two sets and the sum of isolated points, For reference topological elements The basic distance between.

[0017] Preferably, in S32, when there is an isolated point of paired elements in the system, the calculation expression of the reference topological distance in the case of only angular system error is as follows: (14) (15) In the formula, is the relative angle system error of sensors A and B, To refer to the topological elements Angle estimation in polar coordinates; when is a fixed value, By solving equation (15), we can get: is a fixed value, formula (14) is equivalent to formula (15); when is a fixed value, .

[0018] Preferably, in step 4, the process of calculating the final estimation result of robust track association using the optimal linear assignment algorithm based on the angle system error and the translation system error in step 3 with reference to the result of topological distance estimation is as follows: S41, local detection track set of input sensors A and B , , set the reference radius R, the number of topologies and associated gate threshold ; S42, according to formula (4), calculate and obtain each target to be judged Hybrid Reference Topology ; S43, judging the target to be judged by sensors A and B Is the difference between the two greater than the associated wave gate threshold? , , if it is greater than, then it can be calculated by formula (16) , and execute S45, otherwise execute the next step; the calculation expression is as follows: (16); S44. When the track sets of sensors A and B only produce translational system errors, equation (13) is used to solve , and execute S45; when the two track sets of sensors A and B only produce angle system errors, use formula (14) to solve and obtain , and execute S45; S45, obtained according to the above calculation , the optimal linear assignment algorithm is used to calculate the final estimation result of robust track association .

[0019] Therefore, the present invention adopts the above-mentioned reference topology robust track association method for realizing system error decoupling, which has the following beneficial effects: (1) The absolute position of the target is used as the association criterion to improve the robustness of the association estimation. On this basis, a hybrid reference topology is proposed to reduce the computational complexity and increase the practicality of the algorithm. (2) Based on the results of the topological distance estimation with reference to the angle and translation system errors, the optimal linear assignment algorithm is used to calculate the final estimation result of the robust track association, thereby effectively reducing the phenomenon of underreporting and misreporting of track information.

[0020] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1It is an overall flow chart of a reference topology robust track association method for realizing system error decoupling of the present invention; Figure 2 A schematic diagram of a reference track set according to an embodiment of the present invention; Figure 3 The present invention is a flowchart of obtaining the final estimation result of robust track association according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figure 1-Figure 3 , a reference topology robust track association method for realizing system error decoupling, the system error includes distance system error, angle system error and translation system error; the specific steps are as follows: Step 1: Based on the combination of comprehensive reference topology and nearest neighbor reference topology, a hybrid reference topology is constructed; the specific process is as follows: S11, determine the reference track set; the target to be judged observed by sensor s With R as the radius and R as the center, all track points in the circular area are selected to form a point set. The reference track set is calculated as follows: (1) In the formula, is the target to be judged, R is the reference radius, for The reference track set, for The jth reference track point falls within the reference radius R, N is the number of reference track points, represents the j-th track point observed by sensor s; S12, determine the comprehensive reference topology; according to all track points falling within the reference radius R With the target to be judged The difference vector between The reference topology is calculated as follows: (2) In the formula, for The comprehensive reference topology, is the j-th reference topological element; S13, based on the nearest neighbor reference topology , balance the track association performance and computational complexity. Since the larger the reference radius R is, the more reference track points there are, the better the track association performance is, but at the same time the computational complexity also increases significantly. Therefore, the nearest neighbor reference topology is introduced, and the calculation expression is as follows: (3) In the formula, is the topological number, indicating The upper limit of the number of reference track points N; S14, considering the detection range and computational complexity of sensor s, based on the comprehensive reference topology and nearest neighbor reference topology , obtain a hybrid reference topology that is more suitable for engineering practice , the calculation expression is as follows: (4).

[0024] Step 2: Analyze the influence of the reference topology on the robustness from the perspectives of the distance system error and the angle system error, and obtain the analysis result that the reference topology and the distance system error are decoupled in polar coordinates; the specific process is as follows: S21, coordinate conversion: In polar coordinates, the target to be judged , Reference track point , reference topology elements Perform the following coordinate transformation: (5) (6) (7) In the formula, 、 They are the targets to be judged in polar coordinates. , Reference track point The radius from the origin, 、 They are the targets to be judged in polar coordinates. , Reference track point Angle with the polar axis; S22. Under the influence of the range system error, the relationship between the reference topology and the range system error in polar coordinates is analyzed. Specifically, when the sensor s track set produces a range system error When , the expression referring to the topological element is as follows: (8) In the formula, , , are the jth reference topological element, the target to be judged, and the reference track point after the distance system error is generated, respectively. is the offset vector. According to formula (8), the offset vector data is small. Approximately equal to , at this time, the distance system error is considered Reference topology elements The influence of is small, so the reference topology and distance system error are decoupled in polar coordinates; S23. Under the influence of the angle system error, the relationship between the reference topology and the angle system error in polar coordinates is analyzed. Specifically, when the sensor s track set generates an angle system error When , the expression referring to the topological element is as follows: (9) In the formula, 、 、 are the jth reference topological element, reference track point, and target to be judged after the angle system error is generated. According to formula (9), the angle system error Reference topological elements Rotated counterclockwise by the same angle.

[0025] Step 3: According to the analysis results of step 2, the reference topological distance is estimated from two aspects: translation system error and angle system error based on the optimal sub-mode allocation distance measurement method OSPA. and This paper describes the distance measurement method between points. The reference topology needs to be solved by the distance measurement method between sets. In order to reduce the sensitivity of state differences and number differences between elements of different sets, an algorithm for measuring the consistency of set distance is proposed, namely the optimal sub-pattern allocation distance measurement method; the specific process is as follows: S31, measurement sensor A, B two track reference topology and The specific process is as follows: S311, calculate the reference topology of the two tracks of sensors A and B and The metric distance between sets, where , , , the specific calculation expression is as follows: (10) In the formula, For two set elements , The metric distance between Penalize costs for isolated elements, is the basic measure; S312, Calculate the reference topology of two tracks based on the optimal sub-mode allocation distance measurement method OSPA and The metric distance between sets is expressed as follows: (11) Where p is the order parameter of OSPA distance, Reference topology for both , The OSPA distance between them; under the condition of m ≤ n, it is considered that the set All m elements are paired successfully. Pair elements between two sets , The distance and reflects the state difference between elements of different sets. For collection The distances corresponding to the remaining n − m isolated elements in the set; if m>n, then the set All n elements are paired successfully; at the same time, the OSPA distance satisfies the following conditions: (12) In the formula, For collection and The OSPA distance between the two elements when they are perfectly paired.

[0026] S32, judging the reference topology of two tracks and The relationship between the distance and the penalty cost of isolated elements, if the two tracks refer to the topology and If the distance between the two tracks is not greater than the isolated element penalty time, it is determined that there is no paired element isolated point in the system; if the two tracks refer to the topology and When the distance is less than the isolated element penalty, it is determined that the system has a paired element isolated point, and the reference topological distance is calculated when only the translation system error exists or only the angle system error exists. Among them, when the system has a paired element isolated point, the calculation expression of the reference topological distance when only the translation system error exists is as follows: (13) In the formula, , are the number of reference track points of sensors A and B respectively, is the pairing matrix between sensors A and B, is the number of paired elements, is the pairing matrix The (u, v)th element in In addition to the pairing matrix The total number of remaining isolated points in the other two sets, is the pairing matrix between the two sets and the sum of isolated points, For reference topological elements The basic distance between.

[0027] When there are paired element isolated points in the system, the calculation expression of the reference topological distance in the case of only angular system errors is as follows: (14) (15) In the formula, is the relative angle system error of sensors A and B, To refer to the topological elements Angle estimation in polar coordinates; when is a fixed value, By solving equation (15), we can get: is a fixed value, formula (14) is equivalent to formula (15); when is a fixed value, .

[0028] Step 4: Based on the angle system error and translation system error in step 3, the optimal linear assignment algorithm is used to calculate the final estimation result of the robust track association with reference to the result of the topological distance estimation; the specific process is as follows: S41, local detection track set of input sensors A and B , , set the reference radius R, the number of topologies and associated gate threshold ; S42, according to formula (4), calculate and obtain each target to be judged Hybrid Reference Topology ; S43, judging the target to be judged by sensors A and B Is the difference between the two greater than the associated wave gate threshold? , , if it is greater than, then it can be calculated by formula (16) , and execute S45, otherwise execute the next step; the calculation expression is as follows: (16); S44. When the track sets of sensors A and B only produce translational system errors, equation (13) is used to solve , and execute S45; when the two track sets of sensors A and B only produce angle system errors, use formula (14) to solve and obtain , and execute S45; S45, obtained according to the above calculation , the optimal linear assignment algorithm is used to calculate the final estimation result of robust track association .

[0029] Therefore, the present invention adopts the above-mentioned reference topology robust track association method to realize system error decoupling. By using the target relative position instead of the absolute position to perform robust track association estimation, it can effectively realize system error decoupling and effectively reduce the phenomenon of track information omission and misreporting, thereby improving the robustness of the algorithm.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A reference topology robust track association method for achieving system error decoupling, characterized in that the system error includes distance system error, angle system error and translation system error; the specific steps are as follows: Step 1: Based on the combination of comprehensive reference topology and nearest neighbor reference topology, a hybrid reference topology is constructed; Step 2: Analyze the influence of the reference topology on the robustness from the two aspects of distance system error and angle system error, and obtain the analysis result that the reference topology and the distance system error are decoupled in polar coordinates; Step 3: According to the analysis results of step 2, the reference topological distance is estimated from two aspects, namely, the translation system error and the angle system error, based on the optimal sub-mode allocation distance measurement method OSPA; Step 4: Based on the results of the angular system error and the translation system error in step 3 and referring to the topological distance estimation, the optimal linear assignment algorithm is used to calculate the final estimation result of the robust track association.

2. According to the reference topology robust track association method for achieving system error decoupling according to claim 1, it is characterized in that the process of constructing a hybrid reference topology based on the combination of comprehensive reference topology and nearest neighbor reference topology in step 1 is as follows: S11, determine the reference track set; the target to be judged observed by sensor s With R as the radius and R as the center, all track points in the circular area are selected to form a point set. The reference track set is calculated as follows: (1) In the formula, is the target to be judged, R is the reference radius, for The reference track set, for The jth reference track point falls within the reference radius R, N is the number of reference track points, represents the j-th track point observed by sensor s; S12, determine the comprehensive reference topology; according to all track points falling within the reference radius R With the target to be judged The difference vector between The reference topology is calculated as follows: (2) In the formula, for The comprehensive reference topology, is the j-th reference topological element; S13, based on the nearest neighbor reference topology , balancing the track association performance and computational complexity, the calculation expression is as follows: (3) In the formula, is the topological number, indicating The upper limit of the number of reference track points N; S14, based on comprehensive reference topology and nearest neighbor reference topology , obtain the hybrid reference topology , the calculation expression is as follows: (4).

3. A reference topology robust track association method for realizing system error decoupling according to claim 2, characterized in that the process of analyzing the robustness influence of the reference topology from two aspects of distance system error and angle system error in step 2 is as follows: S21, coordinate conversion: In polar coordinates, the target to be judged , Reference track point , reference topology elements Perform the following coordinate transformation: (5) (6) (7) In the formula, 、 They are the targets to be judged in polar coordinates. , Reference track point The radius from the origin, 、 They are the targets to be judged in polar coordinates. , Reference track point Angle with the polar axis; S22. Under the influence of the range system error, the relationship between the reference topology and the range system error in polar coordinates is analyzed. Specifically, when the sensor s track set produces a range system error When , the expression referring to the topological element is as follows: (8) In the formula, , , are the jth reference topological element, the target to be judged, and the reference track point after the distance system error is generated, respectively. is the offset vector. According to formula (8), the offset vector data is small. Approximately equal to , at this time, the distance system error is considered Reference topology elements The influence of is small, so the reference topology and distance system error are decoupled in polar coordinates; S23. Under the influence of the angle system error, the relationship between the reference topology and the angle system error in polar coordinates is analyzed. Specifically, when the sensor s track set generates an angle system error When , the expression referring to the topological element is as follows: (9) In the formula, 、 、 are the jth reference topological element, reference track point, and target to be judged after the angle system error is generated. According to formula (9), the angle system error Reference topological elements Rotated counterclockwise by the same angle.

4. A reference topology robust track association method for realizing system error decoupling according to claim 3, characterized in that the process of estimating the reference topology distance from the two aspects of translation system error and angle system error based on the optimal sub-mode allocation distance metric method OSPA in step 3 is as follows: S31, measurement sensor A, B two track reference topology and distance; S32, judging the reference topology of two tracks and The relationship between the distance and the penalty cost of isolated elements, if the two tracks refer to the topology and If the distance between the two tracks is not greater than the isolated element penalty time, it is determined that there is no paired element isolated point in the system; and When the distance is less than the isolated element penalty, it is determined that the system has an isolated point of paired elements, and the reference topological distance is calculated separately when only the translation system error exists or only the angle system error exists.

5. A reference topology robust track association method for achieving system error decoupling according to claim 4, characterized in that in S31, the two tracks of the measurement sensors A and B are referenced by the topology and The distance process is as follows: S311, calculate the reference topology of the two tracks of sensors A and B and The metric distance between sets, where , , , the specific calculation expression is as follows: (10) In the formula, For two set elements , The metric distance between Penalize costs for isolated elements, is the basic measure; S312, Calculate the reference topology of two tracks based on the optimal sub-mode allocation distance measurement method OSPA and The metric distance between sets is expressed as follows: (11) In the formula, is the order parameter of the OSPA distance, Reference topology for both , The OSPA distance between Under these conditions, it is considered that the set All m elements are paired successfully. Pair elements between two sets , The distance and reflects the state difference between elements of different sets. For collection The distances corresponding to the remaining nm isolated elements in the set; if m>n, then the set All n elements are paired successfully; at the same time, the OSPA distance satisfies the following conditions: (12) In the formula, For collection and The OSPA distance between the two elements when they are perfectly paired.

6. A reference topology robust track association method for realizing system error decoupling according to claim 5, characterized in that in S32, when there are paired element isolated points in the system, the calculation expression of the reference topology distance in the case of only translation system errors is as follows: (13) In the formula, , are the number of reference track points of sensors A and B respectively, is the pairing matrix between sensors A and B, is the number of paired elements, is the pairing matrix The (u, v)th element in In addition to the pairing matrix The total number of remaining isolated points in the other two sets, is the pairing matrix between the two sets and the sum of isolated points, For reference topological elements , The basic distance between.

7. A reference topology robust track association method for realizing system error decoupling according to claim 6, characterized in that in S32, when there are paired element isolated points in the system, the calculation expression of the reference topology distance in the case of only angle system errors is as follows: (14) (15) In the formula, is the relative angle system error of sensors A and B, , To refer to the topological elements , Angle estimation in polar coordinates; when is a fixed value, By solving equation (15), we can get: is a fixed value, formula (14) is equivalent to formula (15); when is a fixed value, .

8. A method for realizing system error decoupling by reference topology robust track association according to claim 7, characterized in that the process of calculating the final estimation result of robust track association using the optimal linear assignment algorithm based on the result of the reference topology distance estimation of the angle system error and the translation system error in step 3 in step 4 is as follows: S41, local detection track set of input sensors A and B , , set the reference radius R, the number of topologies and associated gate threshold ; S42, according to formula (4), calculate and obtain each target to be judged , Hybrid Reference Topology , ; S43, judging the target to be judged by sensors A and B , Is the difference between the two greater than the associated wave gate threshold? , if it is greater than, then it can be calculated by formula (16) , and execute S45, otherwise execute the next step; the calculation expression is as follows: (16); S44. When the track sets of sensors A and B only produce translational system errors, equation (13) is used to solve , and execute S45; when the two track sets of sensors A and B only produce angle system errors, use formula (14) to solve and obtain , and execute S45; S45, obtained according to the above calculation , the optimal linear assignment algorithm is used to calculate the final estimation result of robust track association .

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