多种异类传感器联合跟踪的异步航迹融合算法

王越; 周德云; 杨维; 薄拾

doi:10.15892/j.cnki.djzdxb.2014.02.049

2014 , Vol. 34 >Issue 2: 153 - 156

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2014.02.049

摘要

针对多种异类传感器联合跟踪的数据不同步问题,提出了一种适应于工程应用的异类传感器的异步航迹融合算法。首先利用最小二乘估计对红外测角信息进行数据压缩预处理,将预处理之后的红外测角信息与激光测距信息作为光电测量值代入扩展卡尔曼滤波,再利用分布式异步融合算法将光电与雷达进行航迹融合。仿真结果表明,该算法具有很好的跟踪精度、收敛速度和实时性。

关键词： 异类传感器; 目标跟踪; 数据压缩; 扩展卡尔曼滤波; 分布式异步融合

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王越 , 周德云 , 杨维 , 薄拾 . 多种异类传感器联合跟踪的异步航迹融合算法[J]. 弹箭与制导学报, 2014 , 34(2) : 153 -156 . DOI: 10.15892/j.cnki.djzdxb.2014.02.049

Abstract

According to data sampling asynchronization in jointed tracking kinds of heterogeneous sensors. An asynchronous fusion algorithm suitable for engineering application between heterogeneous sensors with different sampling frequency was presented. Firstly, data compression based on the least squares estimation was used to preprocess the infrared angular information. Then, the processed infrared angular information together with laser ranging information was made as photoelectric measurement values in the extended Kalman filter, so photoelectric sensor and radar information was well fused by distributed asynchronous fusion algorithm. Finally, the simulation results showed that the algorithm had a good tracking precision, convergence speed and real-time.

Key words： heterogeneous sensors; target tracking; data compression; EKF; distributed asynchronous fusion

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