声光阵列协作的运动目标轨迹预推方法

Method of the Forcasting Target Trajectory Based on Sound-PIR Array Coordination

针对感知平台利用GPS导航和PIR阵列进行目标轨迹预推精度低,实用性差的局限性,提出了一种利用声导引技术进行精确定位,4感知平台PIR阵列构成正方形感知模型实现目标运动轨迹测量的方法。在该研究中,单感知平台由8个PIR传感器组成静动系感知阵列,1个扬声器和4个麦克风组成声阵列;通过延时估计算法得到各麦克风相对声信标的距离和方位,将感知平台精确导航到预设点;获取感知模型中32路传感器角度信息进行融合,再结合自身坐标信息及检测目标时间信息通过轨迹预推算法推导出准确的运动轨迹。实验结果表明,该方法有效弥补了仅利用GPS实现单一定位且精度低的不足,同时突破了已往单感知平台进行轨迹预推的方法,具有较大的理论意义与实际应用价值。

Aiming at the low accuracy and poor practicality of multi-sensing platform GPS(Global Position System)navigation and PIR array in the target trajectory measurement,the method of using acoustic guidance technology to precise position and single-sense platform dynamic and static PIR array was put forward to measure the target trajectory.In this study,eight PIR(Pyroelectric Infrared Sensor)probes were used to form dynamic and static array,and a loudspeaker and four microphones were used to form sound array.Through the delay estimation algorithm,the distance and azimuth of each microphone relative to the beacon are obtained,and the sensing platform is accurately moved to the preset point.Four PIR array sensing platforms are arranged at the four vertices of the square model,and 32 sensor angle data fusion through the adaptive weighted fusion algorithm of multi-sonsor data.At last,four sensing platforms use the coordinate and time information of the detected target to calculate the target's motion trajectory.The experimental results show that this method can effectively make up for the deficiency of the function which can only realize positioning and low accuracy,and realize the accurate measurement of motion trajectory and the prediction of the target position in time sequence.So,this method has great theoretical significance and practical application value.