基于EKF的毫米波雷达多目标跟踪算法研究  

Research on millimeter wave radar multi⁃target tracking algorithm based on EKF

作　　者：邱成[1] 王浩[1] 刘凤江[2] 白冬杰 云峰 李舒悦 赵川[3] QIU Cheng;WANG Hao;LIU Fengjiang;BAI Dongjie;YUN Feng;LI Shuyue;ZHAO Chuan(School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China;Beijing Research Institute of Precise Mechanical and Electronic Control Equipment,Beijing 100076,China;Beijing Huahang Radio Measurement Institute,Beijing 100013,China)

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044 [2]北京精密机电控制设备研究所,北京100076 [3]北京华航无线电测量研究所,北京100013

出　　处：《现代电子技术》2021年第15期7-11,共5页Modern Electronics Technique

基　　金：国家自然科学基金(51775033)。

摘　　要：针对车载毫米波雷达多目标跟踪过程中存在量测数据受噪声影响严重和跟踪目标运动状态为非线性的问题,提出一种基于扩展卡尔曼滤波器(EKF)的车载毫米波雷达多目标跟踪算法。首先,建立了多目标跟踪过程中跟踪对象的数学模型;其次,介绍了多目标跟踪算法,并具体对扩展卡尔曼滤波器在该算法中的应用进行了详细的推导和研究;最后,开展了车载毫米波雷达多目标跟踪实验,并对跟踪结果作出了深入的理论分析。实验结果表明,该算法可以对车载毫米波雷达探测到的多个目标量测信息进行滤波跟踪。Since the measured data are seriously affected by noise and the motion state of the tracked target is nonlinear in the multi⁃target tracking process of vehicle⁃mounted millimeter wave radar,a millimeter wave radar multi⁃target tracking algorithm based on extended Kalman filter(EKF)is proposed.The mathematical model of the tracked target in the multi⁃target tracking process is established.The multi⁃target tracking algorithm is introduced,and the application of EKF in the algorithm is deduced and studied in detail.The multi⁃target tracking experiment of the vehicle⁃mounted millimeter wave radar was carried out.A theoretical analysis of the tracking results is performed thoroughly.The experimental results show that the proposed algorithm can perform filtering tracking for the measured information of the multiple targets detected by the millimeter wave radar.

关 键 词：多目标跟踪算法 毫米波雷达 数学模型 回波采集 道路环境感知 跟踪实验 

分 类 号：TN953.6-34[电子电信—信号与信息处理]