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Interactive multi-model radar target tracking method based on predicted value measurement conversion

A radar target tracking and interactive multi-model technology, which is applied in the directions of measuring devices, radio wave measurement systems, radio wave reflection/reradiation, etc., can solve problems such as not considering the maneuvering characteristics of the tracked target

Active Publication Date: 2017-08-15
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

[0006] In view of the above problems or deficiencies, in order to solve the problem that the existing measurement conversion methods do not consider the maneuvering characteristics of the tracked target, the present invention provides an interactive multi-model radar target tracking method based on the measurement conversion of predicted values

Method used

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  • Interactive multi-model radar target tracking method based on predicted value measurement conversion
  • Interactive multi-model radar target tracking method based on predicted value measurement conversion
  • Interactive multi-model radar target tracking method based on predicted value measurement conversion

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Embodiment 1

[0082] Embodiment 1: The distance measurement error of the sensor is 3m, the measurement error of the azimuth angle is 1 degree, and the measurement error of the pitch angle is 0.5 degree.

Embodiment 2

[0083] Embodiment 2: The distance measurement error of the sensor is 3m, the measurement error of the azimuth angle is 1.5 degrees, and the measurement error of the pitch angle is 1.2 degrees.

[0084] In the above two embodiments, the DUCM-IMM algorithm is used to realize target tracking, and the interactive multi-model method (CONV-IMM) and EKF-IMM algorithm based on traditional measurement conversion are used at the same time to compare their tracking performance. All algorithms use the same target initial state and its estimated error covariance matrix in the simulation process. The target tracking performance index is the RMSE value, which is defined as follows:

[0085]

[0086] in and are the state estimation errors in the x-direction and y-direction during the i-th Monte Carlo simulation, respectively, and N is the Monte Carlo number. The smaller the value of RMSE, the higher the tracking accuracy of the algorithm.

[0087] By comparing the above simulation re...

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Abstract

The invention belongs to the field of radar target tracking, and specifically discloses an interactive multi-model radar target tracking method based on predicted value measurement conversion. The interactive multi-model radar target tracking method combines a measurement conversion covariance matrix based on a predicted value with a Kalman filter based on interactive multiple models in a spherical coordinate system, and realizes maneuvering target tracking. Parameters (including estimated prediction distance, azimuth angle, pitch angle and corresponding estimated prediction error covariances) related to a measurement conversion covariance are obtained according to a covariance matrix of an estimated position predicted value in a rectangular coordinate system and position prediction errors obtained by means of the filter, and through nonlinear transformation and a Jacobian transformation matrix. The interactive multi-model radar target tracking method overcomes the inherent defects of a measurement conversion algorithm, and has tracking precision higher than that of an EKF-IMM.

Description

technical field [0001] The invention belongs to the field of radar target tracking, in particular to a method for tracking a maneuvering target by using conversion measurement, in particular to an interactive multi-model radar target tracking method based on prediction value measurement conversion. Background technique [0002] In the target tracking system, due to the uncertainty of the target motion model, the fixed system state equation cannot describe the motion characteristics of the maneuvering target. The interactive multiple model (IMM, interacting multiple model) algorithm is an effective method to solve the maneuvering target tracking based on the unknown motion mode (see literature: Blom, H.A.P, Aefficient filter for abruptly changing systems, InProceedings of the 23rdIEEEConference on Decision and Control, Las Vegas, NV, Dec. 1984, 656-658.). [0003] In radar target tracking, the state equation of the target is generally established in the Cartesian coordinate ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/72
CPCG01S13/723
Inventor 程婷李姝怡魏雪娇陆晓莹
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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