[发明专利]一种具有图像确认的多目标跟踪方法

权利要求书

1.一种具有图像确认的多目标跟踪方法，其特征在于包括下述步骤：

(1)根据所跟踪第i个目标的距离、高低角、方位角、速度、回波信息，高速获取序列图像，通过序列图像处理获得目标的距离、高低角、方位角、速度、回波信息，计算

e＝k_v(v_i-v_im)²+k_α(α_i-α_im)²+k_β(β_i-β_im)²+k_r(r_i-r_im)²

如果e＞e_d，则该回波不是当前所跟踪的目标；

式中，v_i是当前跟踪目标的速度，α_i是当前跟踪目标的高低角，β_i是当前跟踪目标的方位角，r_i是当前跟踪目标斜距，v_im是序列图像确定的目标速度，α_im是序列图像确定的目标高低角，β_im是序列图像确定的目标方位角，r_im是序列图像确定的目标斜距，k_v，k_α，k_β，k_r为设定的参数；e_d是设定阈值；

(2)所跟踪第i个目标的测量新计算为

式中，x_i为9维状态向量，xi=xix·ix··iyiy·iy··iziz·iz··iT,]]>

g_i是3、6或9维观测向量，如果雷达只能测量斜距r_i、高低角α_i、方位角β_i时，g_i＝[r_iα_iβ_i]^T；如果雷达能够测量到速度项，则gi=rir·iαiα·iβiβ·iT;]]>如果雷达能够测量到加速度项，则gi=rir·ir··iαiα·iα··iβiβ·iβ··iT;]]>

式中，下标i代表第i个目标的状态或测量值，

x_i(k/k)为第i个目标kT时刻状态的滤波值，

x_i(k/k-1)为第i个目标kT时刻状态的一步预测值，

λ_ij(k)为权系数，

g_i为观测向量，

z_i为g_i的实际测量值，

P_i(k/k)为状态估计误差的协方差阵，

S_i(k)为新息向量的方差阵，

R_i(k)为观测误差的方差阵，

定义Δ_i，j(k)为第j个候选回波新息向量，且

Δ_i，j(k)＝z_i，j(k)-g_i[x_i(k/k-1)]，

而Δ_i(k)为Δ_i，j(k)的加权和，即

Δi(k)=Σj=1mλi,j(k)Δi,j(k),]]>

系数矩阵

p1=xixi2+yi2+zi2]]>

p2=yixi2+yi2+zi2]]>

p3=zixi2+yi2+zi2]]>

p4=-xizi(xi2+yi2+zi2)xi2+yi2]]>

p5=-yizi(xi2+yi2+zi2)xi2+yi2]]>

p6=xi2+yi2(xi2+yi2+zi2)]]>

p7=yixi2+yi2]]>

p8=-xixi2+yi2]]>

h21=x·ixi2+yi2+zi2-xi(xix·i+yiy·i+ziz·i)(xi2+yi2+zi2)32]]>

h24=y·ixi2+yi2+zi2-yi(xix·i+yiy·i+ziz·i)(xi2+yi2+zi2)32]]>

h27=z·ixi2+yi2+zi2-zi(xix·i+yiy·i+ziz·i)(xi2+yi2+zi2)32]]>

h31=x··ixi2+yi2+zi2-xi(x·i2+y·i2+z·i2+xix··i+yiy··i+ziz··i)(xi2+yi2+zi2)32]]>

-2x·i(xix·i+yiy·i+ziz·i)(xi2+yi2+zi2)32+3xi(xix·i+yiy·i+ziz·i)2(xi2+yi2+zi2)52]]>

h32=2x·ixi2+yi2+zi2-2xi(xix·i+yiy·i+ziz·i)(xi2+yi2+zi2)32]]>

h34=y··ixi2+yi2+zi2-yi(x·i2+y·i2+z·i2+xix··i+yiy··i+ziz··i)(xi2+yi2+zi2)32]]>

-2y·i(xix·i+yiy·i+ziz·i)(xi2+yi2+zi2)32+3yi(xix·i+yiy·i+ziz·i)2(xi2+yi2+zi2)52]]>

h35=2y·ixi2+yi2+zi2-2yi(xix·i+yiy·i+ziz·i)(xi2+yi2+zi2)32]]>

h37=z··ixi2+yi2+zi2-zi(x·i2+y·i2+z·i2+xix··i+yiy··i+ziz··i)(xi2+yi2+zi2)32]]>

-2z·i(xix·i+yiy·i+ziz·i)(xi2+yi2+zi2)32+3zi(xix·i+yiy·i+ziz·i)2(xi2+yi2+zi2)52]]>

h38=2z·ixi2+yi2+zi2-2zi(xix·i+yiy·i+ziz·i)(xi2+yi2+zi2)32]]>

h51=2xiz·i-x·izi(xi2+yi2+zi2)xi2+yi2-(xi2z·i+yi2z·i-xix·izi-yiy·izi)[xi(xi2+yi2)32(xi2+yi2+zi2)+2xixi2+yi2(xi2+yi2+zi2)2]]]>

h54=2yiz·i-y·izi(xi2+yi2+zi2)xi2+yi2-(xi2z·i+yi2z·i-xix·izi-yiy·izi)[yi(xi2+yi2)32(xi2+yi2+zi2)+2yixi2+yi2(xi2+yi2+zi2)2]]]>

h57=-xix·i+yiy·i(xi2+yi2+zi2)xi2+yi2-(xi2z·i+yi2z·i-xix·izi-yiy·izi)[2zixi2+yi2(xi2+yi2+zi2)2]]]>

h61=x·iz·i-x··izi+2xiz··i(xi2+yi2+zi2)xi2+yi2+(xix·iz·i-x·i2zi-xix··izi+yiy·iz·i-y·i2zi-yiy··izi+xi2z··i+yi2z··i)]]>

[xi(xi2+yi2)32(xi2+yi2+zi2)+2xixi2+yi2(xi2+yi2+zi2)2]]]>

h62=xiz·i+2x·izi(xi2+yi2+zi2)xi2+yi2]]>

h63=-yizi(xi2+yi2+zi2)xi2+yi2]]>

h64=y·iz·i-y·i2zi-y··izi+2yiz··i(xi2+yi2+zi2)xi2+yi2+(xix·iz·i-x·i2zi-xix··izi+yiy·iz·i-y·i2zi-yiy··izi+xi2z··i+yi2z··i)]]>

[yi(xi2+yi2)32(xi2+yi2+zi2)+2yixi2+yi2(xi2+yi2+zi2)2]]]>

h65=yiz·i-2y·izi(xi2+yi2+zi2)xi2+yi2-(xi2z·i+yi2z·i-xix·izi-yiy·izi)[yi(xi2+yi2)32(xi2+yi2+zi2)+2yixi2+yi2(xi2+yi2+zi2)2]]]>

+yizi[xix·i+yiy·i(xi2+yi2)32(xi2+yi2+zi2)+2xix·i+2yiy·i+2ziz·ixi2+yi2(xi2+yi2+zi2)2]]]>

h66=-xizi(xi2+yi2+zi2)xi2+yi2]]>

h67=-x·i2-xix··i-y·i2-yiy··i(xi2+yi2+zi2)xi2+yi2-(xix·iz·i-x·i2zi-xix··izi+yiy·iz·i-y·i2zi-yiy··izi+xi2z··i+yi2z··i)[2zixi2+yi2(xi2+yi2+zi2)2]]]>

+(xix·i+yiy·i)[xix·i+yiy·i(xi2+yi2)32(xi2+yi2+zi2)+2xix·i+2yiy·i+2ziz·ixi2+yi2(xi2+yi2+zi2)2]]]>

+(xi2z·i+yi2z·i-xix·izi-yiy·izi)[2zi(xix·i+yiy·i)(xi2+yi2)32(xi2+yi2+zi2)2-2z·ixi2+yi2(xi2+yi2+zi2)2+4zixi2+yi2(xi2+yi2+zi2)3]]]>

h68=xix·i+yiy·i(xi2+yi2+zi2)xi2+yi2-(xi2z·i+yi2z·i-xix·izi-yiy·izi)[2zixi2+yi2(xi2+yi2+zi2)2]]]>

-(xi2+yi2)[xix·i+yiy·i(xi2+yi2)32(xi2+yi2+zi2)+2xix·i+2yiy·i+2ziz·ixi2+yi2(xi2+yi2+zi2)2]]]>

h69=xi2yi2(xi2+yi2+zi2)xi2+yi2]]>

h81=-y·ixi2+yi2-2xi(x·iyi-xiy·i)(xi2+yi2)2]]>

h84=-x·ixi2+yi2-2yi(x·iyi-xiy·i)(xi2+yi2)2]]>

h91=-y··ixi2+yi2-2xi(x··iyi-xiy··i)(xi2+yi2)2+2y·i(xix·i+yiy·i)-2x·i(x·iyi-xiy·i)(xi2+yi2)2+8xi(x·iyi-xiy·i)(xix·i+yiy·i)(xi2+yi2)3]]>

h92=-2yi(xix·i+yiy·i)+2xi(x·iyi-xiy·i)(xi2+yi2)2]]>

h94=x··ixi2+yi2-2yi(x··iyi-xiy··i)(xi2+yi2)2-2x·i(xix·i+yiy·i)+2y·i(x·iyi-xiy·i)(xi2+yi2)2-8yi(x·iyi-xiy·i)(xix·i+yiy·i)(xi2+yi2)3]]>

h95=-2xi(xix·i+yiy·i)+2yi(x·iyi-xiy·i)(xi2+yi2)3]]>

初始条件为x(0/0)；

(3)状态估计的协方差阵为

Pi(k/k)=Pi0(k/k)+Pik(k/k)+Paz+Pal]]>

式中，P_az和P_al分别为雷达转台方位角和高低角转动误差的方差阵，为仅接收到一个回波时状态估计的协方差阵，而定义为：

和P_i(k/k)按照以下原则计算：

当仅接收到一个回波且图像未起作用时，

Pi0(k/k)=Pi0=Pi(k/k-1)-Pi(k/k-1)HiT(k)Si-1(k)Hi(k)Pi(k/k-1)]]>

P_i(k/k)＝P_i0+P_az+P_al

当由图像直接确认目标且无相应雷达回波时，协方差与雷达转台无关，则

P_i(k/k)＝P_{img_ctr}+P_{img_az}+P_{img_al}

式中，P_{img_ctr}为目标中心估计误差的方差阵，P_{img_az}为支撑图像系统云台方位角测量误差的方差阵，P_{img_al}为支撑图像系统云台高低角测量误差的方差阵；

当由图像直接确认目标且有相应雷达回波时，则

Pi-1(k/k)=(Pimg_ctr+Pimg_az+Pimg_al)-1+(Pi0+Paz+Pal)-1]]>

初始条件为P_i(0/0)。