一种鱼雷多目标跟踪数据关联方法

A Data Association Method for Torpedo Multiple-Target Tracking

多目标跟踪是未来鱼雷发展的重要方向之一,数据关联是实现多目标跟踪的基本前提。鱼雷多目标跟踪的过程表现为一个动基座时变过程,本文利用鱼雷导航定位和航行姿态参数以及鱼雷检测到的目标信息,通过坐标变换实现观测空间配准,通过在统一时钟下实时计算采样周期实现观测时间配准。利用目标大地坐标系3D坐标和多普勒速度构造4D坐标系,以模糊归一化的4D欧氏距离作为关联法则,提出了一种适用于鱼雷多目标跟踪的数据关联方法,仿真试验证明了该方法能有效实现鱼雷多目标跟踪数据关联,具有一定的工程应用价值。

Multiple-target tracking is one of the important aims in torpedo development, while data association is a basic for the multiple-target tracking. The torpedo multiple-target tracking process registers as a time-varying process of moving base. In this paper, the parameters of localization and running attitude from torpedo navigation system, as well as the target information detected by a torpedo, are utilized to achieve spatial registration via coordinate transformation. The sampling time is calculated in real time and same clock to achieve temporal registration. The Doppler velocity and the geodetic coordinates of target are used to construct four-dimensional data association coordinates. Normalized fuzzy Euclidean-distance is taken as an association rules. So a data association method for torpedo multiple-target tracking is proposed. Simulation result shows the validity of the proposed method.