Doppler radar static fusion smooth variable structure filtering method and device

Abstract

The invention discloses a Doppler radar static fusion smooth variable structure filtering method and device, and the method comprises the following steps: carrying out the updating estimation of a target state through a first generalized smooth variable structure filter, and obtaining the posteriori estimation of the target state; performing updating estimation on the target pseudo state by using a second generalized smooth variable structure filter to obtain a target pseudo state posteriori estimation; and performing fusion processing on the target state posteriori estimation and the target pseudo state posteriori estimation by using a static fusion device to obtain final posteriori state estimation of the target. On the premise of keeping the robust estimation performance under the condition of model uncertainty, the underdetermined problem caused by a nonlinear observation model and a non-full-rank observation matrix is solved, so that the target tracking performance of a Doppler radar system is improved. The method can be used for a nonlinear observation model of a Doppler radar, and realizes robust radar target state estimation under the condition that a target motion model is uncertain.

Description

technical field [0001] The present application relates to the technical field of radar data processing, in particular to a Doppler radar static fusion smoothing variable structure filtering method and device. Background technique [0002] The radar target tracking system uses the target distance, azimuth angle, Doppler frequency deviation and other information contained in the radar echo to continuously and effectively estimate the number of targets, position, speed, acceleration and other motion states. Radar tracking systems are widely used in automatic driving, air traffic control, weather monitoring, security, national defense and military and other fields. Among them, the Doppler radar can observe the radial velocity information of the target movement, and increase the effective information dimension in the radar target state estimation link, thereby greatly improving the target tracking performance. [0003] The Doppler radar target tracking algorithm and system first...

AI Technical Summary

Problems solved by technology

[0006] This application provides a Doppler radar static fusion smoothing variable structure filtering method and device, which solves the nonlinear underdetermined observation model problem of Doppler radar and the robust tracking problem under the condition of uncertain motion model of the radar target, which can be used Based on the nonlinear observation model of Doppler radar, and achieve robust radar target state estimation under the condition of target motion model uncertainty

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