多传感器协同地面目标跟踪的调度方法

doi:10.19665/j.issn1001-2400.2022.05.012

西安电子科技大学学报 ›› 2022, Vol. 49 ›› Issue (5): 100-108.doi: 10.19665/j.issn1001-2400.2022.05.012

多传感器协同地面目标跟踪的调度方法

张昀普(),单甘霖(),付强()

陆军工程大学石家庄校区电子与光学工程系,河北石家庄 050000

收稿日期:2021-07-12 出版日期:2022-10-20 发布日期:2022-11-17
作者简介:张昀普(1995—),男,陆军工程大学博士研究生,E-mail:shansensor@163.com；|单甘霖(1962—),男,教授,博士,E-mail:shanganlin@163.com；|付强(1981—),男,讲师,博士,E-mail:fq007895@163.com
基金资助:
国家部委基金(LJ20191C020393)

Scheduling method for multi-sensor cooperative ground target tracking

ZHANG Yunpu(),SHAN Ganlin(),FU Qiang()

Department of Electronic and Optical Engineering,Army Engineering University,Shijiazhuang 050000,China

Received:2021-07-12 Online:2022-10-20 Published:2022-11-17

摘要/Abstract

摘要：

针对地面目标跟踪时多普勒盲区存在的情况,为实现对目标的精确跟踪,提出了一种多传感器协同调度方法。首先,通过分析传感器调度的基本过程,建立了包含调度动作、目标状态转移方程和多普勒盲区下传感器量测方程的基本模型;然后,针对地面目标“动-停-动”的运动方式,依据速度大小将其状态分为低速和高速两类,给出了状态概率的计算方法,并引入变结构多模型方法对目标状态进行估计,给出了估计时似然函数和状态转移概率的计算方法;最后,以克拉美罗下限量化跟踪精度,并以跟踪精度最优为优化目标建立了长期调度的目标函数。仿真实验的结果表明,所提方法能够通过预测未来多步的调度收益,制定出最佳的传感器调度方案,从而实现对地面目标的高精度持续跟踪。

关键词: 多传感器系统, 传感器调度, 地面目标跟踪, 多普勒盲区

Abstract:

To achieve accurate ground target tracking in the presence of the Doppler blind zone,a multi-sensor cooperative scheduling method is proposed.First,by analyzing the basic process of sensor scheduling,a basic model including the scheduling action,the target state transition equation,and the sensor measurement equation in the presence of the Doppler blind zone is established.Second,for the move-stop-move characteristics of the ground target,its motion states are divided into two categories of slow stage and fast stage according to its velocity,and the calculation method for the state probability is given.Then,the variable structure interacting multiple-model method is introduced to estimate the target state,and the calculation methods for the estimation likelihood function and the state transition probability are given.Finally,the tracking accuracy is quantified by the posterior Cramér-rao lower bound,and the objective function of the non-myopic scheduling is established with the optimal tracking accuracy as the optimization objective.Simulation results show that the proposed method can lead to the optimal sensor scheduling scheme by predicting the future multi-step scheduling gains,so as to achieve the high-precision sustained tracking accuracy of the target.

Key words: multi-sensor system, sensor scheduling, ground target tracking, doppler blind zone

中图分类号:

TP212

张昀普,单甘霖,付强. 多传感器协同地面目标跟踪的调度方法[J]. 西安电子科技大学学报, 2022, 49(5): 100-108.

ZHANG Yunpu,SHAN Ganlin,FU Qiang. Scheduling method for multi-sensor cooperative ground target tracking[J]. Journal of Xidian University, 2022, 49(5): 100-108.

图/表 7

图1

表1

传感器参数"

参数	传感器1	传感器2	传感器3	传感器4	传感器5	传感器6	传感器7	传感器8
位置/m	(-500,100)	(-250,1 000)	(200,500)	(500,1 000)	(1 000,500)	(750,0)	(500,-500)	(0,-500)
检测概率/%	93	93	97	90	95	98	98	95
斜距离标准差/m	10	15	8	15	10	6	10	10
方位角标准差/mrad	10	5	5	8	5	3	5	5
径向速度标准差/(m· $s - 1$ )	5	3	3	6	3	3	3	3

表1

图2

表2

图3

图4

表3

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H	位置RTAMSE/m	速度RTAMSE/(m·s^-1)
1	15.28	4.28
2	14.13	3.93
3	13.14	3.01
4	13.67	3.62
5	14.64	4.04

方法	位置RTAMSE/m	速度RTAMSE/(m·s^-1)
文中方法	13.14	3.01
方法1	27.71	5.03
方法2	18.40	4.53
方法3	35.73	5.72

多传感器协同地面目标跟踪的调度方法

Scheduling method for multi-sensor cooperative ground target tracking

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