基于扩展量测混合坐标下多目标跟踪算法

Multiple maneuvering targets tracking in mix coordinates with extend measurement

文献[2,3]研究表明在二维直角坐标系中,速度量测的引入不仅可以加快跟踪系统的动态收敛速度,而且可使目标位置的估计精度提高一个数量级甚至更高。针对实际多目标跟踪系统中,由雷达、声纳得到的速度量测是一个相对径向速度,不能直接应用,提出了基于扩展量测混合坐标中多目标跟踪算法,导出了量测方程线性化公式,推导了基于扩展量测混合坐标系中目标跟踪算法,给出了MonteCarlo仿真。结果表明:和没有利用扩展量测的EKF算法相比,提出的跟踪算法不但能够提高目标状态估计的稳态跟踪精度,而且能够提高系统的动态收敛速度。

Literature[2,3] shows that the steady-state estimating accuracy and the constringency rate can been improved by using the rate measurement.Aiming at the practical application of tracking multi-targets,the rate measurement gotten by sonar or radar is a relative radial rate,cannot be used directly.In order to use the rate measurement,a new algorithm is developed in this paper for tracking multiple maneuvering targets in mix coordinate systems ,in which the range rate measurement of maneuvering targets is used to estimate and predict the states of the targets.The linear measurement equation and the tracking arithmetic in mix coordinate system based on extend measurements are conducted.Some Monte Carlo simulations are performed based on the algorithm proposed in this paper.The result shows that the algorithm can improve the steady-state estimating accuracy and the constringency rate.