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Passive target tracking method based on interactive multiple model(s)

An interactive multi-model, target tracking technology, applied in the field of passive sonar signal processing target tracking, can solve problems such as difficulty in matching motion models, insensitivity to the problem of false tracking and crossing, and inability to effectively deal with multi-target crossing problems, to avoid nonlinearity. and weak observability problems, good robustness and traceability, broad applicability and robustness effects

Active Publication Date: 2019-01-11
THE 715TH RES INST OF CHINA SHIPBUILDING IND CORP
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Problems solved by technology

[0003] In the passive tracking method represented by Kalman filter, which is widely studied at present, the state equation is usually based on the target motion model. Due to the nonlinearity of the system and the lack of observational information, it is difficult to match the established motion model with the real target trajectory. cause filter divergence
Many scholars establish state equations based on orientation and orientation change rate, but the problem of mistracking is more serious in data association and is not sensitive to crossover problems, so it cannot effectively deal with multi-objective crossover problems

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Embodiment Construction

[0032] The present invention will be described in detail below in conjunction with accompanying drawing:

[0033] (1) Carry out data association between the target detection result of the current spatial energy spectrum and the existing track. Assume that Z(k) represents the set of candidate detection results that fall into the associated gate at time k, m k Indicates the number of candidate measurements in the associated gate at time k. Z k Expressed as the cumulative set of all measurements up to time k, ie In the case of continuous hypothetical association of target candidate measurements through the association gate, the l-th measurement sequence from the beginning until k time can be given as

[0034] (2) Calculate the likelihood probability of multiple hypotheses such as k at the current moment, and keep the hypothesis with the highest track quality. If the hypothesis with the highest track quality is less than a certain threshold, then the prediction mechanism ...

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Abstract

The present invention discloses a passive target tracking method based on interactive multiple model(s), pertaining to the technical field of passive sonar signal processing and passive target tracking. The problems of tracking loss and false tracking are prone to occur in tracking due to false alarm and multi-target crossing, and the tracking method based on a target motion model involves the linear solution of nonlinear equation(s), so that the difficulty is relatively high. The algorithm can realize data association in the tracking by using the interactive multiple model method, all the models do not involve the nonlinear equation(s), the problem of measurement loss is solved by using a prediction method, and thus the purpose of track maintenance in the tracking is realized. The algorithm can be applied to the single-array bearing-only passive target tracking and is not constrained by scanning beams and the detection method, the real-time tracking can be performed, and thus the method has relatively extensive adaptation.

Description

technical field [0001] The invention belongs to the technical field of passive sonar signal processing target tracking, and mainly relates to a passive target tracking method based on interactive multi-models. Background technique [0002] Detection, tracking, identification, and positioning are the organic and unified key parts of sonar signal processing. Tracking usually follows detection and is a prerequisite for identification and localization. It plays a pivotal role in the entire sonar system. With the development of underwater target stealth technology and underwater acoustic countermeasure technology, especially the emergence of "quiet" submarines and underwater unmanned submersibles, they pose a serious threat to large ports, docks, and deep-sea military platform bases. The comprehensive performance of the passive sonar system puts forward higher requirements. Secondly, with the development of signal processing technology and sonar equipment, the detection range ...

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Application Information

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IPC IPC(8): G01S15/66
CPCG01S15/66
Inventor 权恒恒周彬陈越超徐晓男
Owner THE 715TH RES INST OF CHINA SHIPBUILDING IND CORP
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