《多感測器編隊目標跟蹤技術》是2017年電子工業出版社出版的圖書，作者是王海鵬、董雲龍、熊偉，。
基本介紹
- 書名：多感測器編隊目標跟蹤技術
- 作者：王海鵬,董雲龍,熊偉等
- ISBN：9787121299469
- 頁數：224
- 出版社：電子工業出版社
- 出版時間：2017-01
- 開本：16開
內容簡介,目錄信息,
內容簡介
本書是關於多感測器編隊目標跟蹤方法的一部專著，是作者們對國內外近30年來該領域研究進展和自身研究成果的總結。全書由6章組成，主要內容有：基礎知識概述，編隊目標航跡起始方法，複雜背景下集中式多感測器編隊目標跟蹤方法，集中式多感測器機動編隊目標跟蹤方法，系統誤差下編隊目標航跡關聯方法，建議與展望。
目錄信息
第1章 緒 論······································································································ 1
1.1 研究背景········································································································· 1
1.2 國內外研究現狀····························································································· 2
1.2.1 航跡起始····························································································· 2
1.2.2 航跡維持····························································································· 3
1.2.3 機動跟蹤····························································································· 3
1.3 多感測器編隊目標跟蹤技術中有待解決的一些關鍵問題························· 4
1.3.1 雜波環境下編隊目標航跡起始技術················································ 4
1.3.2 複雜環境下集中式多感測器編隊目標跟蹤技術···························· 5
1.3.3 集中式多感測器機動編隊目標跟蹤技術········································ 5
1.3.4 系統誤差下編隊目標航跡關聯技術················································ 6
1.4 本書的主要內容及安排················································································· 7
第2章 編隊目標航跡起始算法·········································································· 8
2.1 引言················································································································· 8
2.2 基於相對位置矢量的編隊目標灰色航跡起始算法····································· 8
2.2.1 基於循環閾值模型的編隊預分割·················································· 10
2.2.2 基於編隊中心點的預互聯······························································ 11
2.2.3 RPV-FTGTI 算法············································································· 12
2.2.4 編隊內目標航跡的確認·································································· 18
2.2.5 編隊目標狀態矩陣的建立······························································ 19
2.2.6 仿真比較與分析·············································································· 20
2.2.7 討論··································································································· 34
2.3 集中式多感測器編隊目標灰色航跡起始算法················································ 35
2.3.1 多感測器編隊目標航跡起始框架·················································· 35
2.3.2 多感測器預互聯編隊內雜波的剔除·············································· 36
2.3.3 多感測器編隊內量測合併模型······················································ 37
2.3.4 航跡得分模型的建立······································································ 38
2.4 基於運動狀態的集中式多感測器編隊目標航跡起始算法························40
多感測器編隊目標跟蹤
·VIII·
2.4.1 同狀態航跡子編隊獲取模型·························································· 40
2.4.2 多感測器同狀態編隊關聯模型······················································ 45
2.4.3 編隊內航跡精確關聯合併模型······················································ 45
2.5 仿真比較與分析··························································································· 46
2.5.1 仿真環境··························································································· 47
2.5.2 仿真結果及分析·············································································· 47
2.6 本章小結······································································································· 54
第3章 複雜背景下集中式多感測器編隊目標跟蹤算法································· 56
3.1 引言··············································································································· 56
3.2 系統描述······································································································· 56
3.3 雲雨雜波和帶狀干擾剔除模型··································································· 57
3.3.1 雲雨雜波剔除模型·········································································· 58
3.3.2 帶狀干擾剔除模型·········································································· 60
3.3.3 驗證分析··························································································· 61
3.4 基於模板匹配的集中式多感測器編隊目標跟蹤算法······························· 63
3.4.1 基於編隊整體的預互聯·································································· 63
3.4.2 模板匹配模型的建立······································································ 65
3.4.3 編隊內航跡的狀態更新·································································· 69
3.4.4 討論··································································································· 69
3.5 基於形狀方位描述符的集中式多感測器編隊目標粒子濾波算法··········· 69
3.5.1 編隊目標形狀矢量的建立······························································ 70
3.5.2 相似度模型的建立·········································································· 72
3.5.3 冗餘圖像的剔除·············································································· 74
3.5.4 基於粒子濾波的狀態更新······························································ 74
3.6 仿真比較與分析··························································································· 75
3.6.1 仿真環境··························································································· 75
3.6.2 仿真結果··························································································· 76
3.6.3 仿真分析··························································································· 78
3.7 本章小結······································································································· 79
第4章 集中式多感測器機動編隊目標跟蹤算法············································· 81
4.1 引言··············································································································· 81
4.2 典型機動編隊目標跟蹤模型的建立··························································· 82
目 錄
·IX·
4.2.1 編隊整體機動跟蹤模型的建立······················································ 82
4.2.2 編隊分裂跟蹤模型的建立······························································ 85
4.2.3 編隊合併跟蹤模型的建立······························································ 87
4.2.4 編隊分散跟蹤模型的建立······························································ 89
4.3 變結構JPDA機動編隊目標跟蹤算法······················································· 91
4.3.1 事件的定義······················································································· 92
4.3.2 編隊確認矩陣的建立······································································ 93
4.3.3 編隊互聯矩陣的建立······································································ 93
4.3.4 編隊確認矩陣的拆分······································································ 95
4.3.5 機率的計算······················································································· 97
4.3.6 編隊內航跡的狀態更新································································ 100
4.4 擴展廣義S-維分配機動編隊目標跟蹤算法············································ 101
4.4.1 基本模型的建立············································································ 102
4.4.2 編隊量測的劃分············································································ 103
4.4.3 3-維分配問題的構造····································································· 106
4.4.4 廣義S-維分配問題的構造···························································· 107
4.4.5 編隊內航跡的狀態更新································································ 107
4.5 仿真比較與分析························································································· 108
4.5.1 仿真環境························································································· 108
4.5.2 仿真結果························································································· 110
4.5.3 仿真分析························································································· 113
4.6 本章小結····································································································· 114
第5章 系統誤差下編隊目標航跡關聯算法·················································· 116
5.1 引言············································································································· 116
5.2 系統誤差下基於雙重模糊拓撲的編隊目標航跡關聯算法····················· 116
5.2.1 基於循環閾值模型的編隊航跡識別············································ 117
5.2.2 第一重模糊拓撲關聯模型···························································· 118
5.2.3 第二重模糊拓撲關聯模型···························································· 123
5.3 系統誤差下基於誤差補償的編隊目標航跡關聯算法····························· 125
5.3.1 編隊航跡狀態識別模型································································ 125
5.3.2 編隊航跡系統誤差估計模型························································ 127
5.3.3 誤差補償和編隊內航跡的精確關聯············································ 130
5.3.4 討論································································································· 130
多感測器編隊目標跟蹤
·X·
5.4 仿真比較與分析························································································· 131
5.4.1 仿真環境························································································· 131
5.4.2 仿真結果及分析············································································ 132
5.5 本章小結····································································································· 134
第6章 結論及展望·························································································· 135
附錄A 式(2-17)中閾值參數ε 的推導··························································· 140
附錄B 式(5-19)的推導····················································································· 144
參考文獻·············································································································· 148
CONTENTS
Chapter 1 Introduction···························································································· 1
1.1 Background of Research··············································································· 1
1.2 Internal and Oversea Research Actualities ··················································· 2
1.2.1 Track Initiation ·················································································· 2
1.2.2 Track Maintenance ············································································ 3
1.2.3 Maneuvering Tracking ······································································ 3
1.3 The Key Problem to Be Resolved in Multi-sensor Formation Targets
Tracking Technique ········································································································ 4
1.3.1 Formation Targets Track Initiation Technique with Clutter·············· 4
1.3.2 Centralized Multi-sensor Formation Targets Tracking Technique
with the Complicated Background ········································································ 5
1.3.3 Centralized Multi-sensor Maneuvering Formation Targets Tracking
Technique ··············································································································· 5
1.3.4 Track Correlation Technique of the Formation Targets with
Systematic Errors ··································································································· 6
1.4 Main Content and Arragement of Dissertation············································· 7
Chapter 2 Formation Targets Track Initiation Algorithm ······································· 8
2.1 Introduction··································································································· 8
2.2 Formation Targets Gray Track Initiation Algorithm Based on Relative
Position Vector················································································································ 8
2.2.1 Preparative Division of the Formation Targets Based on the
Circulatory Threshold Model··············································································· 10
2.2.2 Preparative Association Based on the Formation Center················ 11
2.2.3 RPV-FTGTI Algorithm ··································································· 12
2.2.4 Validation of the Tracks in the Formation······································· 18
2.2.5 Establishment of the Formation Target State Matrix ······················ 19
2.2.6 Simulation Comparision and Analysis············································ 20
2.2.7 Discussion ······················································································· 34
2.3 Centralized Multi-sensor Formation Targets Gray Track Initiation
Algorithm ····················································································································· 35
2.3.1 Multi-sensor Formation Targets Track Initiation Frame ················· 35
2.3.2 Multi-sensor Clutter Deletion in Preparative Associated
多感測器編隊目標跟蹤
·XII·
Formations ··········································································································· 36
2.3.3 Multi-sensor Measurement Mergence Model in the Formation ····· 37
2.3.4 Establishment of the Track Score Model ········································ 38
2.4 Centralized Multi-sensor Formation Targets Track Initiation Algorithm
Based on Moving State································································································· 40
2.4.1 Same-state Track SubFormation Obtainment Model······················ 40
2.4.2 Multi-sensor Same-state Formation Association Model················· 45
2.4.3 Accurate Association and Mergence Model of the Formation
Tracks··················································································································· 45
2.5 Simulation Comparision and Analysis························································ 46
2.5.1 Simulation Envirenment··································································· 47
2.5.2 Simulation Results and Analysis ······················································ 47
2.6 Summary····································································································· 54
Chapter 3 Centralized Multi-sensor Formation Targets Tracking Algorithm with the
Complicated Background ····························································································· 56
3.1 Introduction································································································· 56
3.2 System Description ····················································································· 56
3.3 Deletion Models of the Cloud-rain Clutter and the Narrow-Band
Interference··················································································································· 57
3.3.1 Cloud-rain Clutter Deletion Model ·················································· 58
3.3.2 Narrow-Band Interference Deletion Model ····································· 60
3.3.3 Validation and Analysis ···································································· 61
3.4 Centralized Multi-sensor Formation Targets Tracking Algorithm Based on
Template Matching······································································································· 63
3.4.1 Preparative Association Based on the Whole Formation ················· 63
3.4.2 Establishment of the Template Matching Model ····························· 65
3.4.3 State Update of the Tracks in the Formation···································· 69
3.4.4 Discussion························································································· 69
3.5 Centralized Multi-sensor Formation Targets Particle Filter Based on Shape
and Azimuth Descriptor································································································ 69
3.5.1 Establishment of the Formation Targets Shape Vector····················· 70
3.5.2 Establishment of the Resemble Model············································· 72
3.5.3 Deletion of the Redundant Picture ··················································· 74
3.5.4 State Update Based on Particle Filter··············································· 74
CONTENTS
·XIII·
3.6 Simulation Comparision and Analysis························································ 75
3.6.1 Simulation Envirenment··································································· 75
3.6.2 Simulation Results············································································ 76
3.6.3 Simulation Analysis·········································································· 78
3.7 Summary····································································································· 79
Chapter 4 Centralized Multi-sensor Maneuvering Formation Targets Tracking
Algorithm ····················································································································· 81
4.1 Introduction································································································· 81
4.2 Establishment of Typical Maneuvering Formation Targets Tracking
Models ·························································································································· 82
4.2.1 Establishment of the Formation Whole Maneuver Tracking
Model ··················································································································· 82
4.2.2 Establishment of the Formation Splitting Tracking Model·············· 85
4.2.3 Establishment of the Formation merging Tracking Model ·············· 87
4.2.4 Establishment of the Formation dispersing Tracking Model ··········· 89
4.3 Maneuvering Formation Targets Tracking Algorithm Based on Different
Structure JPDA Technique···························································································· 91
4.3.1 Event Definition ··············································································· 92
4.3.2 Establishment of the Formation Validation Matrix ·························· 93
4.3.3 Establishment of the Formation Association Matrix························ 93
4.3.4 Splitting of the Formation Validation Matrix ··································· 95
4.3.5 Calculation of the Probability··························································· 97
4.3.6 State Update of the Tracks in the Formation·································· 100
4.4 Maneuvering Formation Targets Tracking Algorithm Based on Patulous
Generalized S-D Assignment Technique···································································· 101
4.4.1 Establishment of the Basic Model·················································· 102
4.4.2 Partition of the Measurements of the Formation Targets ··············· 103
4.4.3 Conformation of 3-D Assignment Problem ··································· 106
4.4.4 Conformation of Generalized S-D Assignment Problem ··········· 107
4.4.5 State Update of the Tracks in the Formation·································· 107
4.5 Simulation Comparision and Analysis······················································ 108
4.5.1 Simulation Envirenment································································· 108
4.5.2 Simulation Results·········································································· 110
4.5.3 Simulation Analysis········································································ 113
多感測器編隊目標跟蹤
·XIV·
4.6 Summary··································································································· 114
Chapter 5 Formation Targets Track Correlation Algorithm with Systematic
Errors ···························································································································116
5.1 Introduction······························································································· 116
5.2 Formation Targets Track Correlation Algorithm with Systematic Errors
Based on Double Fussy Topology·············································································· 116
5.2.1 Formation Tracks Identification Based on Circulatory Threshold
Model ················································································································· 117
5.2.2 The First Scale Fussy Topology Model·········································· 118
5.2.3 The Second Scale Fussy Topology Model ····································· 123
5.3 Formation Targets Track Correlation Algorithm with Systematic Errors
Based on Error Compensation···················································································· 125
5.3.1 Formation Track State Identification Model ·································· 125
5.3.2 Formation Track Systematic Error Estimation Model ··················· 127
5.3.3 Error Compensation and Formation Track Accurate
Correlation ········································································································· 130
5.3.4 Discussion······················································································· 130
5.4 Simulation Comparision and Analysis······················································ 131
5.4.1 Simulation Envirenment································································· 131
5.4.2 Simulation Results and Analysis ···················································· 132
5.5 Summary··································································································· 134
Chapter 6 Conclusions and Prospects ·································································· 135
Appendix A Illation of the Threshold Parameter ε in Formula (2-17) ············ 140
Appendix B Illation of Formula (5-19)····························································· 144
References············································································································ 148
