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Underwater multi-station combined multi-target tracking method and system

A multi-target tracking and target technology, applied in the field of underwater multi-station joint multi-target tracking method and system, can solve the problems of unstable initial track of new targets, false short track, etc., and achieve good target tracking performance and reduce method effect of complexity

Pending Publication Date: 2021-04-27
INST OF ACOUSTICS CHINESE ACAD OF SCI
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Problems solved by technology

[0005] The purpose of the present invention is to overcome the problem of new target initialization in the existing method based on multi-station azimuth joint multi-target tracking and the track is unstable when the track is output, and there are problems such as false short track

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  • Underwater multi-station combined multi-target tracking method and system
  • Underwater multi-station combined multi-target tracking method and system
  • Underwater multi-station combined multi-target tracking method and system

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[0213] The method of the present invention will be further described in detail below in combination with simulation data.

[0214] Parameter setting: Assume that the size of the observation area is 6000×5000m, and the four observation nodes are distributed at the four vertices of the observation area, which are (0,0), (6000,0), (6000,5000), (0, 5000). If the number of observation sampling frames is set to 400, the interval between two observation samples (that is, the frame interval) is 6s. During the observation time period, five moving targets appeared one after another, assuming that they all move in a straight line at a uniform speed. The initial state and existence time of the target are shown in Table 1, and the deployment of observation nodes and the target motion model are shown in Figure 4(a) and Figure 4(b).

[0215] Table 1 Target initial state and existence time period

[0216]

[0217] Obtain azimuth information during the observation process of each observa...

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Abstract

The invention provides an underwater multi-station combined multi-target tracking method and system. The method comprises the steps: dividing observation nodes into pairs at a current sampling moment, carrying out observation pair combination, randomly selecting the observation pair combination at the same probability, carrying out the azimuth measurement cross positioning, and obtaining a new target set; generating target information at the current moment, wherein the target information comprises a track of each target; taking the target information at the current moment and the target information at the previous moment as the input of a multi-station multi-Bernoulli filter, carrying out one-step prediction and measurement updating, and outputting the maximum posteriori state estimation of the target at the current moment; and comparing the existence probability of the target with a first threshold, performing counter accumulation on the detection times exceeding the threshold, and finally comparing an accumulation result with a second threshold to control the real-time output of the target track. According to the method, a stable and continuous target track can be output in real time, and meanwhile, a short track formed by a false target is filtered out.

Description

technical field [0001] The invention belongs to the field of multi-target tracking and data fusion, and in particular relates to an underwater multi-station joint multi-target tracking method and system. Background technique [0002] The underwater sensor network is a distributed system in which multiple passive sonar arrays are deployed according to certain rules in a designated sea area. A single passive sonar array is also called an observation node. For passive sonar arrays, horizontal azimuth measurement is the easiest and most important target information that can be obtained. [0003] In order to achieve multi-target tracking through the combination of multi-station azimuth measurement, the traditional method of correlation first and then tracking has problems such as complex correlation and tracking effect limited by the accuracy of correlation. Mahler et al. based on random finite set theory (Random Finite Set, RFS) A complete set of multi-target tracking ideas is ...

Claims

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Application Information

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IPC IPC(8): G01S15/66G01S7/539G01S7/537
CPCG01S15/66G01S7/539G01S7/537G01S15/003G01S15/006
Inventor 王冠群张春华
Owner INST OF ACOUSTICS CHINESE ACAD OF SCI
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