WO2019010688A1 - 一种用于转弯机动目标的轨迹起始方法及系统 - Google Patents
一种用于转弯机动目标的轨迹起始方法及系统 Download PDFInfo
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- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- the invention belongs to the field of multi-sensor information fusion technology, and in particular relates to a track starting method and system for turning a maneuvering target.
- the main task of the start of the trajectory is to use the measurements obtained by the sensor at different times to detect new targets appearing in the observation space and start their trajectories.
- the commonly used trajectory starting method is generally applicable to the trajectory start of assuming a uniform or uniform acceleration motion of the target, but these existing trajectory starting methods are not suitable for the trajectory start of a turning maneuvering target. Therefore, how to solve the trajectory initiation problem of turning maneuvering targets is a key technical problem that needs to be explored and solved.
- the technical problem to be solved by the present invention is to provide a trajectory starting method and system for a turning maneuvering target, which aims to solve the problem of starting a trajectory of a turning maneuvering target.
- the present invention provides a trajectory starting method for a turning maneuvering target, the method comprising:
- Step 1 respectively, taking one measurement from three measurement sets at different times, forming a measurement group by using the three measurements taken, and testing whether three measurements in the measurement group satisfy three preset conditions at the same time, and simultaneously satisfy three Three measurements in a measurement group of preset conditions form a tentative trajectory;
- Step 2 using three measurements in the measurement group that have formed the tentative trajectory to obtain a target turn rate estimation
- Step 3 using three measurements in the measurement group that have formed the tentative trajectory and the turn rate estimation of the target, obtaining position and velocity estimates of the target at three different times;
- Step 4 Using the target's turn rate estimate and the position and velocity estimates of the target at three different times, obtain a state estimate of the target at the three different times.
- step 1 includes:
- the measurement sets Y k , Y k+1 and Y k+2 at three different moments form a tentative trajectory;
- v min , v max , a max and ⁇ max are the minimum speed, the maximum speed, the maximum acceleration and the maximum turning rate, respectively, and
- 2 represents the 2 norm of the vector, with The variance of the noise is measured for the x direction and the y direction, respectively, b and c are two control parameters, and the value range of b is b 1 to 3, and
- one measurement is taken from the measurement sets Y k , Y k+1 and Y k+2 respectively to form the next measurement group, and the three measurements in the measurement group are repeatedly performed. Whether the operation of three preset conditions is satisfied at the same time until all the measurement combinations are tested, and the test ends;
- step 2 includes:
- the target's turning rate is estimated as
- Sgn(a) is the symbol of the variable a, and there is
- step 3 includes:
- Use Represents a column vector consisting of the position and velocity of the target at time k, where x k and y k represent the x and y components of the position, respectively. with Representing the x component and the y component of the velocity, respectively;
- step 4 includes:
- the present invention also provides a trajectory initiation system for a turning maneuvering target, the system comprising:
- a trajectory forming module for taking one measurement from three measurement sets at different times, using the three measurements taken Forming a measurement group, testing whether three measurements in the measurement group satisfy three preset conditions at the same time, and forming a tentative trajectory by using three measurements in the measurement group that simultaneously satisfy three preset conditions;
- a turn rate estimation module for estimating a turn rate of the target by using three of the measurement groups in which the tentative trajectory has been formed
- a position and velocity estimation module for utilizing three measurements in the measurement group that have formed the tentative trajectory and a turn rate estimation of the target to obtain a position and velocity estimate of the target at three different times;
- a target state acquisition module is configured to obtain a state estimation of the target at the three different moments by using a target turning rate estimation and a position and velocity estimation of the target at three different times.
- trajectory forming module is specifically configured to:
- the measurement sets Y k , Y k+1 and Y k+2 at three different moments form a tentative trajectory;
- the measurement sets at time k, k+1 and k+2 are respectively represented as with
- N k , N k+1 and N k+2 represent the number of measurements in the measurement sets Y k , Y k+1 and Y k+2 , respectively
- v min , v max , a max and ⁇ max are the minimum speed, the maximum speed, the maximum acceleration and the maximum turning rate, respectively, and
- 2 represents the 2 norm of the vector, with The variance of the noise is measured for the x direction and the y direction, respectively, b and c are two control parameters, and the value range of b is b 1 to 3, and
- one measurement is taken from the measurement sets Y k , Y k+1 and Y k+2 respectively to form the next measurement group, and the three measurements in the measurement group are repeatedly performed. Whether the operation of three preset conditions is satisfied at the same time until all the measurement combinations are tested, and the test ends;
- the turning rate estimation module is specifically configured to:
- the target's turning rate is estimated as among them, Sgn(a) is the symbol of the variable a, and there is
- the position and speed estimation module is specifically configured to:
- Use Represents a column vector consisting of the position and velocity of the target at time k, where x k and y k represent the x and y components of the position, respectively. with Representing the x component and the y component of the velocity, respectively;
- target state acquiring module is specifically configured to:
- the invention has the following advantages:
- the invention provides a trajectory starting method or system for turning a maneuvering target, and by forming a tentative trajectory, a target turning rate estimation, and a target position and velocity estimation, finally obtaining a state estimation of the target, thereby effectively solving the turning
- the problem that the maneuvering target trajectory is difficult to start, the invention can be used in the field of multi-target tracking, and has strong practicability.
- FIG. 1 is a flow chart of a method for starting a trajectory for a turning maneuvering target according to an embodiment of the present invention
- FIG. 2 is a schematic diagram of a trajectory starting system for a turning maneuvering target according to an embodiment of the present invention
- 3 is a measurement data obtained by performing an experiment using the trajectory starting method for turning a maneuvering target provided by the embodiment of the present invention
- FIG. 4 is a schematic diagram showing the position estimation of the three targets and the real trajectories of the three targets by processing the measurement data of FIG. 3 by using the trajectory starting method for turning a maneuvering target provided by the embodiment of the present invention.
- the present invention provides a trajectory starting method for a turning maneuvering target, the method comprising:
- Step S101 respectively take one measurement from three measurement sets at different times, form a measurement group by using the three measurements taken, and test whether three measurements in the measurement group satisfy three preset conditions at the same time, and simultaneously satisfy three Preset
- the three measurements in the conditional measurement set form a tentative trajectory. If the three measurements in the measurement group cannot satisfy the three preset conditions at the same time, it indicates that the three measurements in the measurement group cannot be used as the tentative trajectory.
- the main purpose of step S101 is to form a tentative trajectory by using measurements at three different times, and the steps specifically include:
- the measurement sets Y k , Y k+1 and Y k+2 at three different moments form a tentative trajectory;
- the measurement sets at time k, k+1 and k+2 are respectively represented as with
- N k , N k+1 and N k+2 represent the number of measurements in the measurement sets Y k , Y k+1 and Y k+2 , respectively
- a set of measurements z k, e , z k+1, f and z k+2, g is taken from the set Y k , Y k+1 and Y k+2 to form a measurement group.
- v min , v max , a max and ⁇ max are the minimum speed, the maximum speed, the maximum acceleration and the maximum turning rate, respectively, and
- 2 represents the 2 norm of the vector, with The variance of the noise is measured for the x direction and the y direction, respectively, b and c are two control parameters, and b ranges from b 1 to 3, and
- one measurement is taken from the measurement sets Y k , Y k+1 and Y k+2 respectively to form the next measurement group, and the three measurements in the measurement group are repeatedly performed. Whether the operation of three preset conditions is satisfied at the same time until all the measurement combinations are tested, and the test ends;
- Step S102 obtaining a turn rate estimation of the target by using three measurements in the measurement group in which the tentative trajectory has been formed.
- the main purpose of step S102 is to obtain the target turning rate estimation by using the measurements at three different times, and the steps specifically include:
- the target's turning rate is estimated as among them, Sgn(a) is the symbol of the variable a, and there is
- Step S103 Using three measurements in the measurement group in which the tentative trajectory has been formed and the turning rate estimation of the target, the position and velocity estimates of the target at three different moments are obtained. That is, using three measurements z k,e , z k+1,f and z k+2,g in the measurement group that has formed the tentative trajectory, and the target's turn rate estimation Obtain a position and velocity estimate of the target at three different moments corresponding to the three measurements, and step S103 specifically includes:
- Use Represents a column vector consisting of the position and velocity of the target at time k, where x k and y k represent the x and y components of the position, respectively. with Representing the x component and the y component of the velocity, respectively;
- Step S104 Using the above-mentioned target turning rate estimation and the position and velocity estimation of the target at three different times, the state estimation of the target at three different times is obtained.
- Step S104 specifically includes:
- the state of the target at time k is estimated to be The state of the target at time k+1 is estimated as And the state of the target at time k+2 is estimated as
- the method provided by the first embodiment of the present invention effectively solves the problem by forming a tentative trajectory, a target turning rate estimation, and a target position and velocity estimation, and finally obtaining a state estimation of the target.
- the problem that the turning maneuvering target trajectory is difficult to start, the method can be used in the field of multi-target tracking and has strong practicability.
- a track starting system for a turning maneuvering target provided by the present invention includes:
- the trajectory forming module 10 is configured to respectively take one measurement from three measurement sets at different times, form a measurement group by using the three taken measurements, and test whether three measurements in the measurement group satisfy three preset conditions at the same time.
- a tentative trajectory is formed by three measurements in a measurement group that simultaneously satisfies three preset conditions. If the three measurements in the measurement group cannot satisfy the three preset conditions at the same time, it indicates that the three measurements of the measurement group cannot be used as the tentative trajectory.
- the main purpose of the trajectory forming module 10 is to form a tentative trajectory using measurements at three different times, which are specifically used to:
- the measurement sets Y k , Y k+1 and Y k+2 at three different moments form a tentative trajectory;
- the measurement sets at time k, k+1 and k+2 are respectively represented as with
- N k , N k+1 and N k+2 represent the number of measurements in the measurement sets Y k , Y k+1 and Y k+2 , respectively
- v min , v max , a max and ⁇ max are the minimum speed, the maximum speed, the maximum acceleration and the maximum turning rate, respectively, and
- 2 represents the 2 norm of the vector, with The variance of the noise is measured for the x direction and the y direction, respectively, b and c are two control parameters, and the value range of b is b 1 to 3, and
- one measurement is taken from the measurement sets Y k , Y k+1 and Y k+2 respectively to form the next measurement group, and the three measurements in the measurement group are repeatedly performed. Whether the operation of three preset conditions is satisfied at the same time until all the measurement combinations are tested, and the test ends;
- the turn rate estimation module 20 is configured to obtain a target turn rate estimate using three of the measurement groups in which the tentative trajectory has been formed. Briefly, the main purpose of the turn rate estimation module 20 is to obtain a target turn rate estimate using measurements at three different times, which are specifically used to:
- the target's turning rate is estimated as among them, Sgn(a) is the symbol of the variable a, and there is
- the position and velocity estimation module 30 is configured to obtain a position and velocity estimate of the target at three different times using three measurements in the measurement set that have formed the tentative trajectory and a turn rate estimate of the target.
- the position and speed estimation module 30 is specifically configured to:
- Use Represents a column vector consisting of the position and velocity of the target at time k, where x k and y k represent the x and y components of the position, respectively. with Representing the x component and the y component of the velocity, respectively;
- the target state obtaining module 40 is configured to obtain a state estimation of the target at the three different moments by using a turn rate estimation of the target and a position and velocity estimation of the target at three different times.
- the target state obtaining module 40 is specifically configured to:
- the system provided by the second embodiment of the present invention forms a tentative trajectory by the trajectory forming module 10, and the turning rate estimation module 20 obtains the target turning rate estimation, and the position and velocity estimating module 30 obtains the target position and Speed It is estimated that the final target state acquisition module 40 obtains the state estimation of the target, thereby effectively solving the problem that the turning maneuver target trajectory is difficult to start.
- the system can be used in the field of multi-target tracking and has strong practicability.
- simulation data was experimentally conducted using the method as provided in the first embodiment described above.
- This embodiment mainly considers three objectives of making a turning maneuver in a two-dimensional space.
- the initial position of target 1 is [-100m, -70m] T
- the initial velocity is [40m/s, 0m/s] T
- the initial position of target 2 is [-100m,- 130m] T
- the initial velocity is [40m/s, 0m/s] T
- the initial position of target 3 is [-100m, -100m] T
- the initial velocity is [40m/ s, 0m/s] T
- the measured value of the target position plus measurement noise a sensor noise standard deviation measured in the x-direction [sigma] x
- the measurement noise standard deviation in the y direction is taken y [sigma]
- t 2 2s
- t 3 3s.
- the measurement at each moment includes the measurement from the target and the measurement of the clutter, and the measurement data obtained by the sensor. As shown in Figure 3.
- the minimum speed v min 35 m / s
- the maximum speed v max 45 m / s
- the maximum acceleration a max 3 m / s 2
- the control parameter b 2
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Abstract
一种用于转弯机动目标的轨迹起始方法及系统, 属于多传感器信息融合技术领域,通过形成试探性轨迹、目标的转弯率估计、及目标的位置与速度估计,最终获取到目标的状态估计,从而有效地解决了转弯机动目标轨迹难以起始的问题。
Description
本发明属于多传感器信息融合技术领域,尤其涉及一种用于转弯机动目标的轨迹起始方法及系统。
轨迹起始的主要任务是利用传感器在多个不同时刻获得的测量探测出现于观测空间中的新目标,并起始其轨迹。目前,常用的轨迹起始方法通常适用于假定目标作匀速或匀加速运动的轨迹起始,但是这些现有的轨迹起始方法并不适用于转弯机动目标的轨迹起始。因此,如何解决转弯机动目标的轨迹起始问题是目前需要探索和解决的一个关键技术问题。
发明内容
本发明所要解决的技术问题为提供一种用于转弯机动目标的轨迹起始方法及系统,旨在解决转弯机动目标的轨迹起始的问题。
为解决上述技术问题,本发明是这样实现的,本发明提供了一种用于转弯机动目标的轨迹起始方法,所述方法包括:
步骤1、分别从三个不同时刻的测量集中取出一个测量,用取出的三个测量形成一测量组,测试所述测量组中的三个测量是否同时满足三个预设条件,并用同时满足三个预设条件的测量组中的三个测量形成试探性轨迹;
步骤2、利用已形成试探性轨迹的所述测量组中的三个测量得到目标的转弯率估计;
步骤3、利用所述已形成试探性轨迹的所述测量组中的三个测量和所述目标的转弯率估计,得到目标在三个不同时刻的位置和速度估计;
步骤4、利用所述目标的转弯率估计和目标在三个不同时刻的位置和速度估计,得到目标在所述三个不同时刻的状态估计。
进一步地,所述步骤1包括:
设用三个不同时刻的测量集Yk、Yk+1和Yk+2形成试探性轨迹;k时刻、k+1时刻和k+2时刻的测量集分别表示为和其中,Nk、Nk+1和Nk+2分别表示测量集Yk、Yk+1和Yk+2中
测量的数目,tk、tk+1和tk+2分别表示三个时刻的时间,表示k时刻测量集Yk中的第e个测量,其中e=1,2,…,Nk,和分别表示测量zk,e的x分量和y分量,表示k+1时刻测量集Yk+1中的第f个测量,其中f=1,2,…,Nk+1,和分别表示测量zk+1,f的x分量和y分量,表示k+2时刻测量集Yk+2中的第g个测量,其中g=1,2,…,Nk+2,和分别表示测量zk+2,g的x分量和y分量;
分别从三个不同时刻的测量集Yk、Yk+1和Yk+2中取出一个测量zk,e、zk+1,f和zk+2,g形成一测量组,其中e=1,2,…,Nk,f=1,2,…,Nk+1,g=1,2,…,Nk+2;
测试该测量组中的三个测量zk,e、zk+1,f和zk+2,g是否同时满足下列三个预设条件:
条件1:
条件2:
条件3:
其中,vmin、vmax、amax和ωmax分别为最小速度、最大速度、最大加速度和最大转弯率,||·||2表示向量的2范数,和分别为x方向和y方向测量噪声的方差,b和c为两个控制参数,b的取值范围为b=1~3,而
若该测量组中的三个测量zk,e、zk+1,f和zk+2,g同时满足条件1、条件2和条件3,表明该测量组中的三个测量可形成一试探性轨迹,并转入步骤2;
若该测量组中的三个测量zk,e、zk+1,f和zk+2,g不能同时满足条件1、条件2和条件3,表明该测量组中的三个测量不能形成一试探性轨迹;
在一个测量组的测试完成后,分别从测量集合Yk、Yk+1和Yk+2中再取出一个测量形成下一测量组,重复执行所述测试所述测量组中的三个测量是否同时满足三个预设条件的操作,直至所有的测量组合都进行了测试,测试结束;
在测试过程中,若某测量组中的三个测量同时满足条件1、条件2和条件3,该测量组中的三个测量中的任一个测量不能再与其它两个测量集合中的任何测量构成新的测量组。
进一步地,所述步骤2包括:
利用已形成试探性轨迹的所述测量组中的三个测量zk,e、zk+1,f和zk+2,g得到目标的转弯率估计为
进一步地,所述步骤3包括:
进一步地,所述步骤4包括:
本发明还提供了一种用于转弯机动目标的轨迹起始系统,所述系统包括:
轨迹形成模块,用于分别从三个不同时刻的测量集中取出一个测量,用取出的三个测
量形成一测量组,测试所述测量组中的三个测量是否同时满足三个预设条件,并用同时满足三个预设条件的测量组中的三个测量形成试探性轨迹;
转弯率估计模块,用于利用已形成试探性轨迹的所述测量组中的三个测量得到目标的转弯率估计;
位置和速度估计模块,用于利用所述已形成试探性轨迹的所述测量组中的三个测量和所述目标的转弯率估计,得到目标在三个不同时刻的位置和速度估计;
目标状态获取模块,用于利用所述目标的转弯率估计和目标在三个不同时刻的位置和速度估计,得到目标在所述三个不同时刻的状态估计。
进一步地,所述轨迹形成模块具体用于:
设用三个不同时刻的测量集Yk、Yk+1和Yk+2形成试探性轨迹;k时刻、k+1时刻和k+2时刻的测量集分别表示为和其中,Nk、Nk+1和Nk+2分别表示测量集Yk、Yk+1和Yk+2中测量的数目,tk、tk+1和tk+2分别表示三个时刻的时间,表示k时刻测量集Yk中的第e个测量,其中e=1,2,…,Nk,和分别表示测量zk,e的x分量和y分量,表示k+1时刻测量集Yk+1中的第f个测量,其中f=1,2,…,Nk+1,和分别表示测量zk+1,f的x分量和y分量,表示k+2时刻测量集Yk+2中的第g个测量,其中g=1,2,…,Nk+2,和分别表示测量zk+2,g的x分量和y分量;
分别从三个不同时刻的测量集Yk、Yk+1和Yk+2中取出一个测量zk,e、zk+1,f和zk+2,g形成一测量组,其中e=1,2,…,Nk,f=1,2,…,Nk+1,g=1,2,…,Nk+2;
测试该测量组中的三个测量zk,e、zk+1,f和zk+2,g是否同时满足下列三个预设条件:
条件1:
条件2:
条件3:
其中,vmin、vmax、amax和ωmax分别为最小速度、最大速度、最大加速度和最大转弯率,||·||2表示向量的2范数,和分别为x方向和y方向测量噪声的方差,b和c为两个控制参数,b的取值范围为b=1~3,而
若该测量组中的三个测量zk,e、zk+1,f和zk+2,g同时满足条件1、条件2和条件3,表明该测量组中的三个测量可形成一试探性轨迹,并转入所述转弯率估计模块;
若该测量组中的三个测量zk,e、zk+1,f和zk+2,g不能同时满足条件1、条件2和条件3,表明该测量组中的三个测量不能形成一试探性轨迹;
在一个测量组的测试完成后,分别从测量集合Yk、Yk+1和Yk+2中再取出一个测量形成下一测量组,重复执行所述测试所述测量组中的三个测量是否同时满足三个预设条件的操作,直至所有的测量组合都进行了测试,测试结束;
在测试过程中,若某测量组中的三个测量同时满足条件1、条件2和条件3,该测量组中的三个测量中的任一个测量不能再与其它两个测量集合中的任何测量构成新的测量组。
进一步地,所述转弯率估计模块具体用于:
进一步地,所述位置和速度估计模块具体用于:
进一步地,所述目标状态获取模块具体用于:
本发明与现有技术相比,有益效果在于:
本发明提供用于转弯机动目标的轨迹起始方法或系统,通过形成试探性轨迹、目标的转弯率估计、及目标的位置与速度估计,最终获取到目标的状态估计,从而有效地解决了转弯机动目标轨迹难以起始的问题,本发明可用于多目标跟踪领域,具有很强的实用性。
图1是本发明实施例提供的一种用于转弯机动目标的轨迹起始方法流程图;
图2是本发明实施例提供的一种用于转弯机动目标的轨迹起始系统示意图;
图3是本发明实施例提供的利用本发明所提供的用于转弯机动目标的轨迹起始方法进行一次实验得到的测量数据;
图4是本发明实施例提供的利用本发明所提供的用于转弯机动目标的轨迹起始方法在对图3的测量数据进行处理得到三个目标的位置估计及三个目标的真实轨迹示意图。
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。
作为本发明的第一个实施例,如图1所示,本发明提供的一种用于转弯机动目标的轨迹起始方法,该方法包括:
步骤S101:分别从三个不同时刻的测量集中取出一个测量,用取出的三个测量形成一测量组,测试所述测量组中的三个测量是否同时满足三个预设条件,并用同时满足三个预设
条件的测量组中的三个测量形成试探性轨迹。若该测量组中的三个测量不能同时满足三个预设条件,则表明该测量组中的三个测量不能作为试探性轨迹。简单地说,步骤S101的主要目的是利用三个不同时刻的测量形成试探性轨迹,其步骤具体包括:
设用三个不同时刻的测量集Yk、Yk+1和Yk+2形成试探性轨迹;k时刻、k+1时刻和k+2时刻的测量集分别表示为和其中,Nk、Nk+1和Nk+2分别表示测量集Yk、Yk+1和Yk+2中测量的数目,tk、tk+1和tk+2分别表示三个时刻的时间,表示k时刻测量集Yk中的第e个测量,其中e=1,2,…,Nk,和分别表示测量zk,e的x分量和y分量,表示k+1时刻测量集Yk+1中的第f个测量,其中f=1,2,…,Nk+1,和分别表示测量zk+1,f的x分量和y分量,表示k+2时刻测量集Yk+2中的第g个测量,其中g=1,2,…,Nk+2,和分别表示测量zk+2,g的x分量和y分量;
分别从三个不同时刻的测量集Yk、Yk+1和Yk+2中取出一个测量zk,e、zk+1,f和zk+2,g形成一测量组,其中e=1,2,…,Nk,f=1,2,…,Nk+1,g=1,2,…,Nk+2;在本实施例中,分别从三个连续时刻的测量集合Yk、Yk+1和Yk+2中取出一个测量zk,e、zk+1,f和zk+2,g形成一测量组。
测试该测量组中的三个测量zk,e、zk+1,f和zk+2,g是否同时满足下列三个预设条件:
条件1:
条件2:
条件3:
其中,vmin、vmax、amax和ωmax分别为最小速度、最大速度、最大加速度和最大转弯率,||·||2表示向量的2范数,和分别为x方向和y方向测量噪声的方差,b和c为两个控制
参数,b的取值范围为b=1~3,而
若该测量组中的三个测量zk,e、zk+1,f和zk+2,g同时满足条件1、条件2和条件3,表明该测量组中的三个测量可形成一试探性轨迹,并转入步骤S102;
若该测量组中的三个测量zk,e、zk+1,f和zk+2,g不能同时满足条件1、条件2和条件3,表明该测量组中的三个测量不能形成一试探性轨迹;
在一个测量组的测试完成后,分别从测量集合Yk、Yk+1和Yk+2中再取出一个测量形成下一测量组,重复执行所述测试所述测量组中的三个测量是否同时满足三个预设条件的操作,直至所有的测量组合都进行了测试,测试结束;
在测试过程中,若某测量组中的三个测量同时满足条件1、条件2和条件3,该测量组中的三个测量中的任一个测量不能再与其它两个测量集合中的任何测量构成新的测量组。
步骤S102:利用已形成试探性轨迹的所述测量组中的三个测量得到目标的转弯率估计。简单地说,步骤S102的主要目的是利用三个不同时刻的测量得到目标的转弯率估计,其步骤具体包括:
步骤S103:利用已形成试探性轨迹的测量组中的三个测量和目标的转弯率估计,得到目标三个不同时刻的位置和速度估计。即:利用已形成试探性轨迹的测量组中的三个测量zk,e、zk+1,f和zk+2,g,和目标的转弯率估计得到目标在该三个测量所对应的三个不同时刻的位置和速度估计,步骤S103具体包括:
步骤S104:利用上述目标的转弯率估计和目标在三个不同时刻的位置和速度估计,得到目标在三个不同时刻的状态估计。步骤S104具体包括:
综上所述,本发明第一个实施例所提供的方法,通过形成试探性轨迹、目标的转弯率估计、及目标的位置与速度估计,最终获取到目标的状态估计,从而有效地解决了转弯机动目标轨迹难以起始的问题,该方法可用于多目标跟踪领域,具有很强的实用性。
作为本发明的第二个实施例,如图2所示,为本发明提供的一种用于转弯机动目标的轨迹起始系统,该系统包括:
轨迹形成模块10,用于分别从三个不同时刻的测量集中取出一个测量,用取出的三个测量形成一测量组,测试所述测量组中的三个测量是否同时满足三个预设条件,并用同时满足三个预设条件的测量组中的三个测量形成试探性轨迹。若该测量组中的三个测量不能同时满足三个预设的条件,则表明该测量组的三个测量不能作为试探性轨迹。简单地说,轨迹形成模块10的主要目的是利用三个不同时刻的测量形成试探性轨迹,其具体用于:
设用三个不同时刻的测量集Yk、Yk+1和Yk+2形成试探性轨迹;k时刻、k+1时刻和k+2时刻的测量集分别表示为和其中,Nk、Nk+1和Nk+2分别表示测量集Yk、Yk+1和Yk+2中测量的数目,tk、tk+1和tk+2分别表示三个时刻的时间,表示k时刻测量集Yk中的第e个测量,其中e=1,2,…,Nk,和分别表示测量zk,e的x分量和y分量,表示k+1时刻测量集Yk+1中的第f个测量,其中f=1,2,…,Nk+1,和分别表示测量zk+1,f的x分量和y分量,表示k+2时刻测量集Yk+2中的第g个测量,其中g=1,2,…,Nk+2,和分别表示测量zk+2,g的x分量和y分量;
分别从三个不同时刻的测量集Yk、Yk+1和Yk+2中取出一个测量zk,e、zk+1,f和zk+2,g形成一测量组,其中e=1,2,…,Nk,f=1,2,…,Nk+1,g=1,2,…,Nk+2;
测试该测量组中的三个测量zk,e、zk+1,f和zk+2,g是否同时满足下列三个预设条件:
条件1:
条件2:
条件3:
其中,vmin、vmax、amax和ωmax分别为最小速度、最大速度、最大加速度和最大转弯率,||·||2表示向量的2范数,和分别为x方向和y方向测量噪声的方差,b和c为两个控制参数,b的取值范围为b=1~3,而
若该测量组中的三个测量zk,e、zk+1,f和zk+2,g同时满足条件1、条件2和条件3,表明该测量组中的三个测量可形成一试探性轨迹,并转入转弯率估计模块20;
若该测量组中的三个测量zk,e、zk+1,f和zk+2,g不能同时满足条件1、条件2和条件3,表明该测量组中的三个测量不能形成一试探性轨迹;
在一个测量组的测试完成后,分别从测量集合Yk、Yk+1和Yk+2中再取出一个测量形成下一测量组,重复执行所述测试所述测量组中的三个测量是否同时满足三个预设条件的操作,直至所有的测量组合都进行了测试,测试结束;
在测试过程中,若某测量组中的三个测量同时满足条件1、条件2和条件3,该测量组中的三个测量中的任一个测量不能再与其它两个测量集合中的任何测量构成新的测量组。
转弯率估计模块20,用于利用已形成试探性轨迹的所述测量组中的三个测量得到目标的转弯率估计。简单地说,转弯率估计模块20的主要目的是利用三个不同时刻的测量得到目标的转弯率估计,其具体用于:
位置和速度估计模块30,用于利用所述已形成试探性轨迹的所述测量组中的三个测量和所述目标的转弯率估计,得到目标在三个不同时刻的位置和速度估计。位置和速度估计模块30具体用于:
目标状态获取模块40,用于利用所述目标的转弯率估计和目标在三个不同时刻的位置和速度估计,得到目标在所述三个不同时刻的状态估计。目标状态获取模块40具体用于:
综上所述,本发明第二个实施例所提供的系统,通过轨迹形成模块10形成试探性轨迹、转弯率估计模块20得到目标的转弯率估计、位置和速度估计模块30得到目标的位置与速度
估计,最终目标状态获取模块40获取到目标的状态估计,从而有效地解决了转弯机动目标轨迹难以起始的问题,该系统可用于多目标跟踪领域,具有很强的实用性。
作为本发明的第三个实施例,其采用如上述第一个实施例所提供的方法对仿真数据进行了实验。本实施例主要考虑在二维空间中作转弯机动的三个目标。目标1的初始位置为[-100m,-70m]T,初始速度为[40m/s,0m/s]T,转弯率为ω=10°/s;目标2的初始位置为[-100m,-130m]T,初始速度为[40m/s,0m/s]T,转弯率为ω=-10°/s;目标3的初始位置为[-100m,-100m]T,初始速度为[40m/s,0m/s]T,转弯率为ω=0°/s。
传感器测量目标的位置,其采样周期为T=1s,测量值为目标的位置加上测量噪声,传感器在x方向上的测量噪声标准差σx和在y方向上的测量噪声标准差σy取为σx=σy=1m,传感器在t1=1s、t2=2s和t3=3s对目标测量,每一时刻的测量包括源于目标的测量和杂波测量,传感器得到的测量数据如图3所示。
为了处理图3所示的测量数据,设最小速度vmin=35m/s、最大速度vmax=45m/s、最大加速度amax=3m/s2,最大转弯率ωmax=12°/s(即ωmax=0.2094rad/s),控制参数b=2,σx=σy=1m。通过对图3的测量数据处理,得到三个目标的位置估计和其真实轨迹,如图4所示。从图4的实验结果可以看出,采用本发明第一个实施例所提供的方法能在杂波的环境中探测出三个目标,并估计出其初始状态,从而实现了轨迹的起始。
本实施例采用如第一个实施例所提供的方法对图3的测量数据进行处理,得到上述三个目标在t1=1s时状态估计与它们的真实状态值,如下表1所示:
表1:实验的三个目标在t1=1s时状态估计与它们的真实状态值对比表
本实施例采用如第一个实施例所提供的方法,进行了100次蒙特·卡罗统计模拟实验,得到上述三个目标在t1=1s时状态估计与它们的真实状态值如下表2所示:
表2:通过100次蒙特·卡罗统计模拟得到的三个目标在t1=1s时状态估计与它们的真实状态值对比表
综上所示,从上表1和表2的实验结果表明,本发明所提供的用于转弯机动目标的轨迹起始方法,可以获得较为精确和可靠的目标状态估计、各目标的状态估计非常接近它们真实的状态值。
以上所述仅为本发明的较佳实施例而已,并不用以限制发明,凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明的保护范围之内。
Claims (10)
- 一种用于转弯机动目标的轨迹起始方法,其特征在于,所述方法包括:步骤1、分别从三个不同时刻的测量集中取出一个测量,用取出的三个测量形成一测量组,测试所述测量组中的三个测量是否同时满足三个预设条件,并用同时满足三个预设条件的测量组中的三个测量形成试探性轨迹;步骤2、利用已形成试探性轨迹的所述测量组中的三个测量得到目标的转弯率估计;步骤3、利用所述已形成试探性轨迹的所述测量组中的三个测量和所述目标的转弯率估计,得到目标在三个不同时刻的位置和速度估计;步骤4、利用所述目标的转弯率估计和目标在三个不同时刻的位置和速度估计,得到目标在所述三个不同时刻的状态估计。
- 如权利要求1所述的方法,其特征在于,所述步骤1包括:设用三个不同时刻的测量集Yk、Yk+1和Yk+2形成试探性轨迹;k时刻、k+1时刻和k+2时刻的测量集分别表示为和其中,Nk、Nk+1和Nk+2分别表示测量集Yk、Yk+1和Yk+2中测量的数目,tk、tk+1和tk+2分别表示三个时刻的时间,表示k时刻测量集Yk中的第e个测量,其中e=1,2,…,Nk,和分别表示测量zk,e的x分量和y分量,表示k+1时刻测量集Yk+1中的第f个测量,其中f=1,2,…,Nk+1,和分别表示测量zk+1,f的x分量和y分量,表示k+2时刻测量集Yk+2中的第g个测量,其中g=1,2,…,Nk+2,和分别表示测量zk+2,g的x分量和y分量;分别从三个不同时刻的测量集Yk、Yk+1和Yk+2中取出一个测量zk,e、zk+1,f和zk+2,g形成一测量组,其中e=1,2,…,Nk,f=1,2,…,Nk+1,g=1,2,…,Nk+2;测试该测量组中的三个测量zk,e、zk+1,f和zk+2,g是否同时满足下列三个预设条件:条件1:条件2:条件3:其中,vmin、vmax、amax和ωmax分别为最小速度、最大速度、最大加速度和最大转弯率,||·||2表示向量的2范数,和分别为x方向和y方向测量噪声的方差,b和c为两个控制参数,b的取值范围为b=1~3,而若该测量组中的三个测量zk,e、zk+1,f和zk+2,g同时满足条件1、条件2和条件3,表明该测量组中的三个测量可形成一试探性轨迹,并转入步骤2;若该测量组中的三个测量zk,e、zk+1,f和zk+2,g不能同时满足条件1、条件2和条件3,表明该测量组中的三个测量不能形成一试探性轨迹;在一个测量组的测试完成后,分别从测量集合Yk、Yk+1和Yk+2中再取出一个测量形成下一测量组,重复执行所述测试所述测量组中的三个测量是否同时满足三个预设条件的操作,直至所有的测量组合都进行了测试,测试结束;在测试过程中,若某测量组中的三个测量同时满足条件1、条件2和条件3,该测量组中的三个测量中的任一个测量不能再与其它两个测量集合中的任何测量构成新的测量组。
- 一种用于转弯机动目标的轨迹起始系统,其特征在于,所述系统包括:轨迹形成模块,用于分别从三个不同时刻的测量集中取出一个测量,用取出的三个测量形成一测量组,测试所述测量组中的三个测量是否同时满足三个预设条件,并用同时满足三个预设条件的测量组中的三个测量形成试探性轨迹;转弯率估计模块,用于利用已形成试探性轨迹的所述测量组中的三个测量得到目标的转弯率估计;位置和速度估计模块,用于利用所述已形成试探性轨迹的所述测量组中的三个测量和所述目标的转弯率估计,得到目标在三个不同时刻的位置和速度估计;目标状态获取模块,用于利用所述目标的转弯率估计和目标在三个不同时刻的位置和速度估计,得到目标在所述三个不同时刻的状态估计。
- 如权利要求6所述的系统,其特征在于,所述轨迹形成模块具体用于:设用三个不同时刻的测量集Yk、Yk+1和Yk+2形成试探性轨迹;k时刻、k+1时刻和k+2时刻的测量集分别表示为和其中,Nk、Nk+1和Nk+2分别表示测量集Yk、Yk+1和Yk+2中测量的数目,tk、tk+1和tk+2分别表示三个时刻的时间,表示k时刻测量集Yk中的第e个测量,其中e=1,2,…,Nk,和分别表示测量zk,e的x分量和y分量,表示k+1时刻测量集Yk+1中的第f个测量,其中f=1,2,…,Nk+1,和 分别表示测量zk+1,f的x分量和y分量,表示k+2时刻测量集Yk+2中的第g个测量,其中g=1,2,…,Nk+2,和分别表示测量zk+2,g的x分量和y分量;分别从三个不同时刻的测量集Yk、Yk+1和Yk+2中取出一个测量zk,e、zk+1,f和zk+2,g形成一测量组,其中e=1,2,…,Nk,f=1,2,…,Nk+1,g=1,2,…,Nk+2;测试该测量组中的三个测量zk,e、zk+1,f和zk+2,g是否同时满足下列三个预设条件:条件1:条件2:条件3:其中,vmin、vmax、amax和ωmax分别为最小速度、最大速度、最大加速度和最大转弯率,||·||2表示向量的2范数,和分别为x方向和y方向测量噪声的方差,b和c为两个控制参数,b的取值范围为b=1~3,而若该测量组中的三个测量zk,e、zk+1,f和zk+2,g同时满足条件1、条件2和条件3,表明该测量组中的三个测量可形成一试探性轨迹,并转入所述转弯率估计模块;若该测量组中的三个测量zk,e、zk+1,f和zk+2,g不能同时满足条件1、条件2和条件3,表明该测量组中的三个测量不能形成一试探性轨迹;在一个测量组的测试完成后,分别从测量集合Yk、Yk+1和Yk+2中再取出一个测量形成下一测量组,重复执行所述测试所述测量组中的三个测量是否同时满足三个预设条件的操作,直至所有的测量组合都进行了测试,测试结束;在测试过程中,若某测量组中的三个测量同时满足条件1、条件2和条件3,该测量组中的三个测量中的任一个测量不能再与其它两个测量集合中的任何测量构成新的测量组。
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