CN107328952A - Flight path velocity stability evaluation scheme when one kind is without true value - Google Patents
Flight path velocity stability evaluation scheme when one kind is without true value Download PDFInfo
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- CN107328952A CN107328952A CN201710311203.6A CN201710311203A CN107328952A CN 107328952 A CN107328952 A CN 107328952A CN 201710311203 A CN201710311203 A CN 201710311203A CN 107328952 A CN107328952 A CN 107328952A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P11/00—Measuring average value of speed
Abstract
It is a kind of without true value when flight path velocity stability evaluation scheme patent of invention be related to multi-target traces process field, after the present invention is to the field target following and Multi-source Information Fusion processing, in the case of it need not obtain target true velocity, disclose a kind of quantitative assessment scheme to target velocity stability, the program is using the target physical characteristics of motion as reference, invented it is a kind of without true value when quantitative assessment target velocity stability track the technical scheme for the treatment of effect, it is to avoid dependence to speed true value or the subjectivity artificially evaluated.
Description
Technical field
After the target following of multi-target traces process field and Multi-source Information Fusion processing, it can not obtain
To a kind of quantitative assessment scheme of targetpath velocity-stabilization degree in the case of target true velocity, the present invention program is with target physical
The characteristics of motion is reference point, invented it is a kind of without true value when quantitative assessment speed tracing effect technical scheme, it is to avoid to true
The dependence of value or the subjectivity artificially evaluated.
Background technology
In multi-target traces process field,（1）Inputted using the measurement report point mark that various kinds of sensors is detected as system, warp
Cross after some such as alpha-beta tracking filter, Kalman tracking filter, the processing of interactive multimode formula tracking filter method, shape
Into the flight path processing effect of multiple target, or（2）It is that target following flight path is as input in a distributed manner, by adaptive weighted flat
, after the processing of the Multi-source Information Fusion such as Kalman filtering, interactive multimode formula, the fusion flight path processing effect of multiple target is formed.
To the recruitment evaluation after above-mentioned flight path processing, prior art is typically by modes such as position root-mean-square errors to mesh
The positional precision of mark flight path is effectively assessed, but assessing always without effective processing scheme, mesh to flight path velocity stability
The preceding visible assessment to velocity-stabilization degree is, in known target speed true value, to pass through instantaneous speed after sample calculation tracking filter
The error mean square difference spent with speed true value is estimated, or is estimated by many person-times of subjective compare.
On the one hand there is the destination number limitation that sampling is assessed in sampling calculation method, on the other hand its requirement has target true
Speed can not carry out quantitative assessment as reference to the situation without true velocity, and many person-times of subjective evaluation methods can then be introduced
Human error.
The present invention provide it is a kind of without true value when velocity-stabilization degree quantitative evaluating method, by all tracking handle after target
Track points include scope of assessment, it is to avoid the imperfection of data from the sample survey, the true velocity without knowing target, solve many
Premise limitation is assessed, while avoiding artificial pricer from being subjective error.
The content of the invention
The present invention, which is directed in targetpath velocity-stabilization degree evaluation method, to be required to have speed true value, there is sampling property and artificial
The deficiency of subjective assessment, proposes a kind of effective velocity-stabilization degree quantitative assessment scheme without true value, the program be one not
Alienable entirety, including following content, by formula（1）Calculate the stability of targetpath speed：
, formula（1）
WhereinIt is the instantaneous velocity at target k moment to be assessed,For target i-th movement tendency section average speed.
Formula（1）Middle target then presses such as following formula in i-th of movement tendency section average speed（2）Calculate：
, formula（2）
Wherein：,The initial position and final position of the movement tendency of target i-th section are represented respectively,For mesh
It is marked on i-th section of run duration.
Formula（2）Division control is performed as follows in the middle movement tendency of target i-th section：
Target existsIn time, each instantaneous positionWith the distance of movement tendencyRespectively less than control thresholding δ, i.e. to appointing
Meaning is included inThe k moment in time,,When, movement tendency section divides reasonable, otherwise willThe motion at interval
Trend section fromThe maximum correspondence moment is reclassified as two movement tendency sections, until all movement tendencies section is satisfied by wanting
Ask.
Above-mentioned distanceBy formula（3）Method is calculated：
Formula（3）
Wherein：
,
。
Accompanying drawing
Flight path velocity stability evaluation scheme handling process when Fig. 1 one kind is without true value.
Fig. 2 movement tendencies section divides schematic diagram.
In the schematic diagram, target motion flight path to be assessed has 4 moment points, is represented, is set for the first time with A, B, C, D respectively
Fixed 1 movement tendency section AB, calculates C, D point to AB distance, and selects ultimate range CE to be compared with the thresholding set, when CE is small
When thresholding, only divide movement tendency section and terminate, start calculating speed stability；Otherwise movement tendency section is divided into AC, CB,
DF in the ultimate range between intermediate point and AC and CB, figure is calculated respectively to be less than after thresholding, it is whole to divide trend section AC, CB knot
Beam.
Beneficial effect
By the average overall plan of the flight path velocity stability of the present invention, solve in the case of can not obtaining target true velocity
Velocity-stabilization degree is evaluated, while the imperfection that sampling is evaluated and the subjective error artificially evaluated are avoided, to instructing multiple target
Flight path processing field is tracked and blending algorithm is improved with beneficial effect.
Implementation steps
" flight path velocity stability evaluation scheme when one kind is without true value " patent of invention is a system schema, real as follows
Apply.
The first step：Flight path to be assessed, and initiation parameter are obtained, including initializes movement tendency section original position to be split
For track initiation position, final position is flight path final position, and the movement tendency section time is the period that flight path is present, distance control
Thresholding processed.
Second step：Movement tendency section to be split is traveled through, by formula（3）Calculate movement tendency section the time in all reporting points to transport
The distance of dynamic trend section start-stop line segment, and obtain ultimate range；
When ultimate range is more than control thresholding, using the moment as boundary, movement tendency section is divided into two sections, cut-point is assigned respectively
The terminal and starting point of two trend sections of value, repeat second step；
When ultimate range is less than control thresholding, the movement tendency section of processing to be assessed is added.
3rd step：Movement tendency section to be assessed is traveled through, by formula（2）The average speed of movement tendency section is calculated, motion is calculated
Flight path instantaneous velocity and average speed are poor in trend section.
4th step：Using the 3rd step result, by formula（1）Calculate flight path velocity stability.
Claims (1)
- Flight path velocity stability evaluation scheme when 1. one kind is without true value, it is characterised in that by formula（1）Calculate targetpath speed Stability：, formula（1）WhereinIt is the instantaneous velocity at target k moment to be assessed,For target i-th movement tendency section average speed；Formula（1）Middle target is in i-th of movement tendency section average speed, by such as following formula（2）Calculate：, formula（2）Wherein：,The initial position and final position of the movement tendency of target i-th section are represented respectively,For mesh It is marked on i-th section of run duration；Formula（2）Division control is performed as follows in the middle movement tendency of target i-th section：Target existsIn time, each instantaneous positionWith the distance of movement tendencyRespectively less than control thresholding δ, i.e. to appointing Meaning is included inThe k moment in time,,When, movement tendency section divides reasonable, otherwise willThe fortune at interval Dynamic trend section fromThe maximum correspondence moment is reclassified as two movement tendency sections, until all movement tendencies section is satisfied by wanting Ask；Above-mentioned distanceBy formula（3）Method is calculated：Formula（3）Wherein：,。 1
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| CN101855116A (en) * | 2007-11-09 | 2010-10-06 | 米其林技术公司 | System or controlling a vehicle with determination of its instantaneous speed relative to the ground |
| CN101635094A (en) * | 2008-07-24 | 2010-01-27 | 安徽蓝盾光电子股份有限公司 | Method for measuring speed within vehicle interval |
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