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多传感器多目标航迹关联与融合算法研究.doc

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分类号密级
UDC注1
学位论文
多传感器多目标
航迹关联与融合算法研究
<题名和副题名>
程跃兵
<作者>
指导教师戴跃伟 教授
闫玉德 副教授
申请学位级别硕 士专业名称控制理论与控制工程
he simulation examples, and proves that the algorithm is effective. Data support for researching subsequent track correlation and track fusion algorithm is provided.
Secondly, based on the practical engineering research background, the distributed correlation algorithms which are currently widespread adoption are summarized and discussed in the dissertation. Include weighting, fixed, independent sequential correlation algorithm, and analyzes when track is crossing, bifurcating and combining, and the feasibility of the algorithm thought the several of simulation examples is proved.
Finally, the dissertation describes several common track fusion algorithms of the target tracking field, including centralized and distributedstructure. Since centralizedstructure has large amount of calculation and the high requirements of system processor, the dissertation adopts the distributed fusion algorithm, and associated successful route, withno feedback optimal distributed fusion algorithm 50 times Monte Carlo simulation to verify the algorithm reliability.
From the Angle of engineering area, the key of target tracking data fusion area is discussed in this dissertation, and useful referencefor the practical engineering application
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is provided.
Keywords:Multi-sensor, target tracking, IMM filtering, trackcorrelation, track fusion
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目 录
摘要I
ABSTRACTII
1绪论1
1.1论文研究背景与意义1
1.2国外发展与研究现状2
1.3 航迹关联与融合算法发展现状3
航迹关联算法发展概况3
航迹融合算法发展概况4
1.4 本文的主要研究工作与容安排5
2多传感器多目标信息融合理论基础7
2.1信息融合的定义7
2.2信息融合的基本原理7
2.3信息融合的系统结构8
信息融合的层次结构8
信息融合的体系结构9
2.4信息融合的技术与应用10
信息融合的基本技术和方法10
信息融合的应用11
2.5本论文研究的主要问题与解决思路11
2.6本章小结12
3多目标跟踪中的数据处理13
3.1量测数据预处理技术13
坐标变换13
3.1.2 时间配准算法16
3.1.3 空间配准算法17
3.2卡尔曼滤波19
3.3交互式多模型跟踪算法20
3.4仿真分析23
3.4.1 仿真指标23
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3.4.2 滤波仿真结果24
3.5本章小结29
4基于统计理论的航迹关联算法31
4.1 算法描述31
加权航迹关联算法32
4.1.2 修正航迹关联算法32
4.1.3

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