多传感器编队目标跟踪技术

第1章

绪

论······································································································

研究背景·········································································································

国内外研究现状·····························································································

1.2.1

航迹起始·····························································································

1.2.2

航迹维持·····························································································

1.2.3

机动跟踪·····························································································

多传感器编队目标跟踪技术中有待解决的一些关键问题·························

1.3.1

杂波环境下编队目标航迹起始技术················································

1.3.2

复杂环境下集中式多传感器编队目标跟踪技术····························

1.3.3

集中式多传感器机动编队目标跟踪技术········································

1.3.4

系统误差下编队目标航迹关联技术················································

本书的主要内容及安排·················································································

第2章

编队目标航迹起始算法··········································································

引言·················································································································

基于相对位置矢量的编队目标灰色航迹起始算法·····································

2.2.1

基于循环阈值模型的编队预分割··················································

2.2.2

基于编队中心点的预互联······························································

2.2.3

RPV-FTGTI

算法·············································································

2.2.4

编队内目标航迹的确认··································································

2.2.5

编队目标状态矩阵的建立······························································

2.2.6

仿真比较与分析··············································································

2.2.7

讨论···································································································

集中式多传感器编队目标灰色航迹起始算法················································

2.3.1

多传感器编队目标航迹起始框架··················································

2.3.2

多传感器预互联编队内杂波的剔除··············································

2.3.3

多传感器编队内量测合并模型······················································

2.3.4

航迹得分模型的建立······································································

基于运动状态的集中式多传感器编队目标航迹起始算法························40

多传感器编队目标跟踪

·VIII·

2.4.1

同状态航迹子编队获取模型··························································

2.4.2

多传感器同状态编队关联模型······················································

2.4.3

编队内航迹精确关联合并模型······················································

仿真比较与分析···························································································

2.5.1

仿真环境···························································································

2.5.2

仿真结果及分析··············································································

本章小结·······································································································

第3章

复杂背景下集中式多传感器编队目标跟踪算法·································

引言···············································································································

系统描述·······································································································

云雨杂波和带状干扰剔除模型···································································

3.3.1

云雨杂波剔除模型··········································································

3.3.2

带状干扰剔除模型··········································································

3.3.3

验证分析···························································································

基于模板匹配的集中式多传感器编队目标跟踪算法·······························

3.4.1

基于编队整体的预互联··································································

3.4.2

模板匹配模型的建立······································································

3.4.3

编队内航迹的状态更新··································································

3.4.4

讨论···································································································

基于形状方位描述符的集中式多传感器编队目标粒子滤波算法···········

3.5.1

编队目标形状矢量的建立······························································

3.5.2

相似度模型的建立··········································································

3.5.3

冗余图像的剔除··············································································

3.5.4

基于粒子滤波的状态更新······························································

仿真比较与分析···························································································

3.6.1

仿真环境···························································································

3.6.2

仿真结果···························································································

3.6.3

仿真分析···························································································

本章小结·······································································································

第4章

集中式多传感器机动编队目标跟踪算法·············································

引言···············································································································

典型机动编队目标跟踪模型的建立···························································

目

录

·IX·

4.2.1

编队整体机动跟踪模型的建立······················································

4.2.2

编队分裂跟踪模型的建立······························································

4.2.3

编队合并跟踪模型的建立······························································

4.2.4

编队分散跟踪模型的建立······························································

变结构JPDA机动编队目标跟踪算法·······················································

4.3.1

事件的定义·······················································································

4.3.2

编队确认矩阵的建立······································································

4.3.3

编队互联矩阵的建立······································································

4.3.4

编队确认矩阵的拆分······································································

4.3.5

概率的计算·······················································································

4.3.6

编队内航迹的状态更新································································

扩展广义S-维分配机动编队目标跟踪算法············································

4.4.1

基本模型的建立············································································

4.4.2

编队量测的划分············································································

4.4.3

3-维分配问题的构造·····································································

4.4.4

广义S-维分配问题的构造····························································

4.4.5

编队内航迹的状态更新································································

仿真比较与分析·························································································

4.5.1

仿真环境·························································································

4.5.2

仿真结果·························································································

4.5.3

仿真分析·························································································

本章小结·····································································································

第5章

系统误差下编队目标航迹关联算法··················································

引言·············································································································

系统误差下基于双重模糊拓扑的编队目标航迹关联算法·····················

5.2.1

基于循环阈值模型的编队航迹识别············································

5.2.2

第一重模糊拓扑关联模型····························································

5.2.3

第二重模糊拓扑关联模型····························································

系统误差下基于误差补偿的编队目标航迹关联算法·····························

5.3.1

编队航迹状态识别模型································································

5.3.2

编队航迹系统误差估计模型························································

5.3.3

误差补偿和编队内航迹的精确关联············································

5.3.4

讨论·································································································

多传感器编队目标跟踪

·X·

仿真比较与分析·························································································

5.4.1

仿真环境·························································································

5.4.2

仿真结果及分析············································································

本章小结·····································································································

第6章

结论及展望··························································································

附录A

式(2-17)中阈值参数ε

的推导···························································

附录B

式(5-19)的推导·····················································································

参考文献··············································································································

CONTENTS

Chapter

Introduction····························································································

Background

of

Research···············································································

Internal

and

Oversea

Research

Actualities

···················································

1.2.1

Track

Initiation

··················································································

1.2.2

Track

Maintenance

············································································

1.2.3

Maneuvering

Tracking

······································································

The

Key

Problem

to

Be

Resolved

in

Multi-sensor

Formation

Targets

Tracking

Technique

········································································································

1.3.1

Formation

Targets

Track

Initiation

Technique

with

Clutter··············

1.3.2

Centralized

Multi-sensor

Formation

Targets

Tracking

Technique

with

the

Complicated

Background

········································································

1.3.3

Centralized

Multi-sensor

Maneuvering

Formation

Targets

Tracking

Technique

···············································································································

1.3.4

Track

Correlation

Technique

of

the

Formation

Targets

with

Systematic

Errors

···································································································

Main

Content

and

Arragement

of

Dissertation·············································

Chapter

Formation

Targets

Track

Initiation

Algorithm

·······································

Introduction···································································································

Formation

Targets

Gray

Track

Initiation

Algorithm

Based

on

Relative

Position

Vector················································································································

2.2.1

Preparative

Division

of

the

Formation

Targets

Based

on

the

Circulatory

Threshold

Model···············································································

2.2.2

Preparative

Association

Based

on

the

Formation

Center················

2.2.3

RPV-FTGTI

Algorithm

···································································

2.2.4

Validation

of

the

Tracks

in

the

Formation·······································

2.2.5

Establishment

of

the

Formation

Target

State

Matrix

······················

2.2.6

Simulation

Comparision

and

Analysis············································

2.2.7

Discussion

·······················································································

Centralized

Multi-sensor

Formation

Targets

Gray

Track

Initiation

Algorithm

·····················································································································

2.3.1

Multi-sensor

Formation

Targets

Track

Initiation

Frame

·················

2.3.2

Multi-sensor

Clutter

Deletion

in

Preparative

Associated

多传感器编队目标跟踪

·XII·

Formations

···········································································································

2.3.3

Multi-sensor

Measurement

Mergence

Model

in

the

Formation

·····

2.3.4

Establishment

of

the

Track

Score

Model

········································

Centralized

Multi-sensor

Formation

Targets

Track

Initiation

Algorithm

Based

on

Moving

State·································································································

2.4.1

Same-state

Track

SubFormation

Obtainment

Model······················

2.4.2

Multi-sensor

Same-state

Formation

Association

Model·················

2.4.3

Accurate

Association

and

Mergence

Model

of

the

Formation

Tracks···················································································································

Simulation

Comparision

and

Analysis························································

2.5.1

Simulation

Envirenment···································································

2.5.2

Simulation

Results

and

Analysis

······················································

Summary·····································································································

Chapter

Centralized

Multi-sensor

Formation

Targets

Tracking

Algorithm

with

the

Complicated

Background

·····························································································

Introduction·································································································

System

Description

·····················································································

Deletion

Models

of

the

Cloud-rain

Clutter

and

the

Narrow-Band

Interference···················································································································

3.3.1

Cloud-rain

Clutter

Deletion

Model

··················································

3.3.2

Narrow-Band

Interference

Deletion

Model

·····································

3.3.3

Validation

and

Analysis

····································································

Centralized

Multi-sensor

Formation

Targets

Tracking

Algorithm

Based

on

Template

Matching·······································································································

3.4.1

Preparative

Association

Based

on

the

Whole

Formation

·················

3.4.2

Establishment

of

the

Template

Matching

Model

·····························

3.4.3

State

Update

of

the

Tracks

in

the

Formation····································

3.4.4

Discussion·························································································

Centralized

Multi-sensor

Formation

Targets

Particle

Filter

Based

on

Shape

and

Azimuth

Descriptor································································································

3.5.1

Establishment

of

the

Formation

Targets

Shape

Vector·····················

3.5.2

Establishment

of

the

Resemble

Model·············································

3.5.3

Deletion

of

the

Redundant

Picture

···················································

3.5.4

State

Update

Based

on

Particle

Filter···············································

CONTENTS

·XIII·

Simulation

Comparision

and

Analysis························································

3.6.1

Simulation

Envirenment···································································

3.6.2

Simulation

Results············································································

3.6.3

Simulation

Analysis··········································································

Summary·····································································································

Chapter

Centralized

Multi-sensor

Maneuvering

Formation

Targets

Tracking

Algorithm

·····················································································································

Introduction·································································································

Establishment

of

Typical

Maneuvering

Formation

Targets

Tracking

Models

··························································································································

4.2.1

Establishment

of

the

Formation

Whole

Maneuver

Tracking

Model

···················································································································

4.2.2

Establishment

of

the

Formation

Splitting

Tracking

Model··············

4.2.3

Establishment

of

the

Formation

merging

Tracking

Model

··············

4.2.4

Establishment

of

the

Formation

dispersing

Tracking

Model

···········

Maneuvering

Formation

Targets

Tracking

Algorithm

Based

on

Different

Structure

JPDA

Technique····························································································

4.3.1

Event

Definition

···············································································

4.3.2

Establishment

of

the

Formation

Validation

Matrix

··························

4.3.3

Establishment

of

the

Formation

Association

Matrix························

4.3.4

Splitting

of

the

Formation

Validation

Matrix

···································

4.3.5

Calculation

of

the

Probability···························································

4.3.6

State

Update

of

the

Tracks

in

the

Formation··································

Maneuvering

Formation

Targets

Tracking

Algorithm

Based

on

Patulous

Generalized

S-D

Assignment

Technique····································································

4.4.1

Establishment

of

the

Basic

Model··················································

4.4.2

Partition

of

the

Measurements

of

the

Formation

Targets

···············

4.4.3

Conformation

of

3-D

Assignment

Problem

···································

4.4.4

Conformation

of

Generalized

S-D

Assignment

Problem

···········

4.4.5

State

Update

of

the

Tracks

in

the

Formation··································

Simulation

Comparision

and

Analysis······················································

4.5.1

Simulation

Envirenment·································································

4.5.2

Simulation

Results··········································································

4.5.3

Simulation

Analysis········································································

多传感器编队目标跟踪

·XIV·

Summary···································································································

Chapter

Formation

Targets

Track

Correlation

Algorithm

with

Systematic

Errors

···························································································································116

Introduction·······························································································

Formation

Targets

Track

Correlation

Algorithm

with

Systematic

Errors

Based

on

Double

Fussy

Topology··············································································

5.2.1

Formation

Tracks

Identification

Based

on

Circulatory

Threshold

Model

·················································································································

5.2.2

The

First

Scale

Fussy

Topology

Model··········································

5.2.3

The

Second

Scale

Fussy

Topology

Model

·····································

Formation

Targets

Track

Correlation

Algorithm

with

Systematic

Errors

Based

on

Error

Compensation····················································································

5.3.1

Formation

Track

State

Identification

Model

··································

5.3.2

Formation

Track

Systematic

Error

Estimation

Model

···················

5.3.3

Error

Compensation

and

Formation

Track

Accurate

Correlation

·········································································································

5.3.4

Discussion·······················································································

Simulation

Comparision

and

Analysis······················································

5.4.1

Simulation

Envirenment·································································

5.4.2

Simulation

Results

and

Analysis

····················································

Summary···································································································

Chapter

Conclusions

and

Prospects

··································································

Appendix

A

Illation

of

the

Threshold

Parameter

ε

in

Formula

(2-17)

············

Appendix

B

Illation

of

Formula

(5-19)·····························································

References············································································································